{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "99bbaa7d",
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import math\n",
    "import matplotlib.pyplot as plt\n",
    "from sympy import symbols, cos, sin\n",
    "from sympy.plotting import plot_parametric\n",
    "from math import sin,cos"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "0ffdee82",
   "metadata": {},
   "source": [
    "# Лабораторная работа 1 , задание 2(a) , Unscented Kalman Filter\n",
    "Реализация расширенного фильтра Калмана для отслеживания координати ориентации в соответствии с odometry motion model"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "62668378",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "['SENSOR', '1', '2.29725290252', '0.353956815014']\n",
      "['SENSOR', '2', '4.01825728983', '1.51507415344']\n",
      "['ODOMETRY', '0.101823187296', '0.0997248889496', '-0.000206654546125']\n",
      "['SENSOR', '1', '1.96846687533', '0.276209105501']\n",
      "['SENSOR', '2', '3.87986704568', '1.40393072429']\n",
      "['ODOMETRY', '0.100901695741', '0.0997582630735', '-0.000381616354179']\n",
      "['SENSOR', '1', '1.96852886749', '0.242784804425']\n",
      "['SENSOR', '2', '3.87971065887', '1.32647676387']\n",
      "['ODOMETRY', '0.0997651394437', '0.0997993534855', '-0.000208097310853']\n",
      "['SENSOR', '1', '1.87508331126', '0.0936569272975']\n",
      "['SENSOR', '2', '3.849192179', '1.20772931615']\n",
      "['ODOMETRY', '0.0988021399415', '0.100360366225', '-0.00122883669589']\n",
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      "['SENSOR', '2', '3.95417280741', '1.25970767463']\n",
      "['ODOMETRY', '0.0998731020684', '0.0998098334361', '0.000926085589796']\n",
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      "['SENSOR', '2', '3.59759872767', '1.04090139691']\n",
      "['ODOMETRY', '0.100314651053', '0.0996200579912', '0.000575268519869']\n",
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      "['SENSOR', '2', '3.76733107867', '1.02783331425']\n",
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      "['SENSOR', '2', '3.71427679672', '0.92294567505']\n",
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      "['SENSOR', '1', '1.14340287924', '-0.63651274602']\n",
      "['SENSOR', '2', '3.52742272729', '0.827358592505']\n",
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      "['SENSOR', '2', '3.21903139503', '0.608609177764']\n",
      "['ODOMETRY', '0.101077500499', '0.0998498505796', '-0.000160756806792']\n",
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      "['SENSOR', '2', '3.30661799717', '0.524107985292']\n",
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      "['SENSOR', '1', '1.09621121037', '-1.43900397462']\n",
      "['SENSOR', '2', '3.2382990193', '0.518547924017']\n",
      "['ODOMETRY', '0.0991500821073', '0.10013162298', '0.00061821939171']\n",
      "['SENSOR', '8', '4.48032266707', '-1.16853964317']\n",
      "['SENSOR', '1', '1.05453646597', '-1.57360343045']\n",
      "['SENSOR', '2', '3.12147771546', '0.369604279194']\n",
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      "['SENSOR', '8', '4.51041519435', '-1.13505398802']\n",
      "['SENSOR', '1', '1.01408592378', '-1.6209817432']\n",
      "['SENSOR', '2', '3.0349959581', '0.307197125698']\n",
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      "['SENSOR', '1', '0.977458402036', '-1.79104939149']\n",
      "['SENSOR', '2', '2.7939870742', '0.344183271835']\n",
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      "['SENSOR', '8', '4.31671160573', '-1.13337841163']\n",
      "['SENSOR', '1', '0.886564013958', '-1.96817341764']\n",
      "['SENSOR', '2', '2.8062997236', '0.378866179691']\n",
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      "['SENSOR', '1', '1.20240484656', '-2.09055794649']\n",
      "['SENSOR', '2', '2.61257298591', '0.400689815362']\n",
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      "['SENSOR', '2', '2.41796456399', '0.428960172356']\n",
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      "['SENSOR', '2', '2.02595774502', '0.554005367169']\n",
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      "['SENSOR', '3', '4.8224768036', '-0.239591007404']\n",
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      "['SENSOR', '1', '1.80852245484', '-2.51982496643']\n",
      "['SENSOR', '2', '1.96102088098', '0.610994481673']\n",
      "['SENSOR', '3', '4.85211156128', '-0.1489018205']\n",
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      "['SENSOR', '3', '3.19721928714', '-0.285485802808']\n",
      "['SENSOR', '7', '4.30425329678', '-1.23670399341']\n",
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      "['SENSOR', '8', '4.0209837071', '-1.67421338488']\n",
      "['SENSOR', '1', '2.98678421634', '-2.79971956357']\n",
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      "['SENSOR', '3', '3.17923741534', '-0.348369090478']\n",
      "['SENSOR', '7', '4.02065742023', '-1.27095421415']\n",
      "['ODOMETRY', '6.98085102272e-05', '0.0998571294686', '0.000814819876331']\n",
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      "['ODOMETRY', '-4.66038294942e-05', '0.100189586967', '-5.21580102793e-05']\n",
      "['SENSOR', '8', '4.01514296922', '-1.96395215815']\n",
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      "['ODOMETRY', '-0.000339024488948', '0.100009711461', '2.26344713328e-05']\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "['SENSOR', '9', '4.23985887378', '-2.26854947811']\n",
      "['SENSOR', '5', '3.41389965628', '-0.282744929273']\n",
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      "['SENSOR', '9', '4.49482605041', '-2.26889815025']\n"
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    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "['SENSOR', '4', '4.07710876539', '-1.73456190265']\n",
      "['SENSOR', '7', '2.42576722134', '-0.0138112591739']\n",
      "['ODOMETRY', '-0.000139407170528', '0.0998511677938', '0.000334065170192']\n",
      "['SENSOR', '8', '0.335693906267', '0.462318775119']\n",
      "['SENSOR', '1', '3.54703844972', '2.08539235736']\n",
      "['SENSOR', '4', '3.94824350404', '-1.6777048794']\n",
      "['SENSOR', '7', '2.13297568426', '0.0826896741318']\n",
      "['ODOMETRY', '-0.000628418701319', '0.0999704949615', '-0.000124838470818']\n",
      "['SENSOR', '8', '0.0237407258792', '0.999084065632']\n",
      "['SENSOR', '1', '3.49005275028', '2.05858832887']\n",
      "['SENSOR', '4', '4.07307706178', '-1.72646904791']\n",
      "['SENSOR', '7', '2.07921259872', '0.00213504582166']\n",
      "['ODOMETRY', '-9.78009794874e-05', '0.100003974246', '-0.00134217319887']\n",
      "['SENSOR', '8', '0.129747875719', '2.20808064967']\n",
      "['SENSOR', '1', '3.82990788235', '2.17088111054']\n",
      "['SENSOR', '4', '4.01274770551', '-1.80022287123']\n",
      "['SENSOR', '7', '1.74885650734', '-0.0121223549881']\n",
      "['ODOMETRY', '0.000936885880489', '0.0999064874362', '0.000600172698976']\n",
      "['SENSOR', '8', '0.00599324163092', '2.67223936752']\n",
      "['SENSOR', '1', '3.82421795548', '2.19552984414']\n",
      "['SENSOR', '3', '4.79851180987', '0.60594351723']\n",
      "['SENSOR', '4', '4.05133471121', '-1.81575940442']\n",
      "['SENSOR', '7', '1.85931144483', '0.164227994673']\n",
      "['ODOMETRY', '-0.000253202498002', '0.10008722051', '0.000209063753791']\n",
      "['SENSOR', '8', '0.355098876696', '2.89500927945']\n",
      "['SENSOR', '1', '3.90659962847', '2.1333112384']\n",
      "['SENSOR', '3', '4.81068150996', '0.62679112096']\n",
      "['SENSOR', '4', '4.09111006731', '-1.88931307412']\n",
      "['SENSOR', '7', '1.79380510621', '-0.0357020447254']\n",
      "['ODOMETRY', '0.000157129099918', '0.100032988722', '-0.000729862285518']\n",
      "['SENSOR', '8', '0.310596091371', '2.80972354331']\n",
      "['SENSOR', '1', '3.70515903504', '2.23033190653']\n",
      "['SENSOR', '3', '4.65126987644', '0.73166186817']\n",
      "['SENSOR', '4', '4.23935852045', '-1.93054147639']\n",
      "['SENSOR', '7', '1.76174667646', '0.0262704139452']\n",
      "['ODOMETRY', '-0.000548408308394', '0.0999919238562', '-0.000250033911117']\n",
      "['SENSOR', '8', '0.672273832166', '3.01287570212']\n",
      "['SENSOR', '1', '3.82284974892', '2.26851849591']\n",
      "['SENSOR', '3', '4.66661981658', '0.750783246804']\n",
      "['SENSOR', '4', '4.20611841782', '-1.87591401282']\n",
      "['SENSOR', '7', '1.65083446213', '-0.10214389997']\n",
      "['ODOMETRY', '-0.000371751330884', '0.0999313796848', '0.000860224474773']\n",
      "['SENSOR', '8', '0.556611108037', '3.00403808456']\n",
      "['SENSOR', '1', '4.07609954779', '2.29923731693']\n",
      "['SENSOR', '3', '4.61268174855', '0.746177069223']\n",
      "['SENSOR', '4', '4.26511409215', '-1.93342631232']\n",
      "['SENSOR', '7', '1.5749019735', '0.109768246387']\n",
      "['ODOMETRY', '2.93556084258e-05', '0.100060189388', '0.00098238378032']\n",
      "['SENSOR', '8', '0.731212089539', '3.13442910945']\n",
      "['SENSOR', '1', '4.19104478917', '2.19441500315']\n",
      "['SENSOR', '3', '4.50331304373', '0.707514185573']\n",
      "['SENSOR', '4', '4.34762941195', '-1.97920192321']\n",
      "['SENSOR', '7', '1.33294282082', '0.0230575892315']\n",
      "['ODOMETRY', '1.97994777393e-05', '0.099913771488', '0.000324267521873']\n",
      "['SENSOR', '8', '0.726506378949', '3.06634580351']\n",
      "['SENSOR', '1', '4.04114278918', '2.33975587408']\n",
      "['SENSOR', '3', '4.50535713636', '0.78187843772']\n",
      "['SENSOR', '4', '4.29965089498', '-1.9407687623']\n",
      "['SENSOR', '7', '1.27944364032', '0.0552717851415']\n",
      "['ODOMETRY', '-0.000438875804674', '0.099903540815', '0.000489960444763']\n",
      "['SENSOR', '8', '0.62179737963', '3.10384573817']\n",
      "['SENSOR', '1', '4.24151843231', '2.38316523462']\n",
      "['SENSOR', '3', '4.26416968603', '0.789449674711']\n",
      "['SENSOR', '4', '4.33240098534', '-1.96547159788']\n",
      "['SENSOR', '7', '1.24198454896', '-0.0312764055356']\n",
      "['ODOMETRY', '0.00124083409796', '0.09994562889', '-0.000946313040158']\n",
      "['SENSOR', '8', '0.760293224516', '3.02148565162']\n",
      "['SENSOR', '1', '4.28994508486', '2.2237346564']\n",
      "['SENSOR', '3', '4.26717238324', '0.896293534553']\n",
      "['SENSOR', '4', '4.27865244716', '-2.06179292551']\n",
      "['SENSOR', '7', '1.12266271613', '0.0415462318364']\n",
      "['ODOMETRY', '0.000129299270017', '0.100041869119', '-0.000655703667229']\n",
      "['SENSOR', '1', '4.45232713374', '2.39852116851']\n",
      "['SENSOR', '3', '4.28823399159', '0.800783040336']\n",
      "['SENSOR', '4', '4.51068601353', '-2.05307475783']\n",
      "['SENSOR', '7', '0.901779605434', '0.0337725706528']\n",
      "['SENSOR', '8', '0.977088757516', '3.04355799617']\n",
      "['SENSOR', '9', '5.04440283106', '-0.0103650380772']\n",
      "['ODOMETRY', '0.000537988723435', '0.0998524709068', '-0.000469990594849']\n",
      "['SENSOR', '1', '4.33243080487', '2.33948279246']\n",
      "['SENSOR', '3', '4.10533364383', '0.863859372451']\n",
      "['SENSOR', '4', '4.60752865229', '-2.16099524972']\n",
      "['SENSOR', '5', '5.14915760553', '-1.41243997907']\n",
      "['SENSOR', '7', '1.00236861922', '0.0941916748689']\n",
      "['SENSOR', '8', '1.23019120912', '3.1121174408']\n",
      "['SENSOR', '9', '4.82508017193', '0.051751886788']\n",
      "['ODOMETRY', '-0.000205828817179', '0.100018336841', '0.000249542798678']\n",
      "['SENSOR', '1', '4.33283896214', '2.46058071055']\n",
      "['SENSOR', '3', '4.18312790586', '0.872387916195']\n",
      "['SENSOR', '4', '4.50465419667', '-2.16382123772']\n",
      "['SENSOR', '5', '5.10336341986', '-1.39939623537']\n",
      "['SENSOR', '7', '0.704062055735', '0.108392416192']\n",
      "['SENSOR', '8', '1.20229516344', '3.16630582891']\n",
      "['SENSOR', '9', '4.60881937906', '0.0659418142304']\n",
      "['ODOMETRY', '-4.84769033309e-05', '0.0998816841886', '-0.000516660455681']\n",
      "['SENSOR', '1', '4.50934992142', '2.36066884164']\n",
      "['SENSOR', '3', '4.00995160209', '0.872702584178']\n",
      "['SENSOR', '4', '4.6556628157', '-2.10991460657']\n",
      "['SENSOR', '5', '5.19236777304', '-1.46894121337']\n",
      "['SENSOR', '7', '0.595140527124', '-0.00247210771207']\n",
      "['SENSOR', '8', '1.1409026588', '3.07525098835']\n",
      "['SENSOR', '9', '4.84639214222', '-0.0548253969277']\n",
      "['ODOMETRY', '5.67295197279e-05', '0.100061981172', '0.000311855228904']\n",
      "['SENSOR', '1', '4.62274843795', '2.4285094599']\n",
      "['SENSOR', '3', '3.816414436', '0.903117907018']\n",
      "['SENSOR', '4', '4.36708385287', '-2.09249135014']\n",
      "['SENSOR', '5', '5.02112185456', '-1.48480085145']\n",
      "['SENSOR', '7', '0.722330360765', '0.131951761725']\n",
      "['SENSOR', '8', '1.42401805985', '3.15417376672']\n",
      "['SENSOR', '9', '4.47099457601', '-0.0163240457546']\n",
      "['ODOMETRY', '0.00115916483704', '0.0999765525792', '-5.49301680053e-05']\n",
      "['SENSOR', '1', '4.63927554993', '2.3761844012']\n",
      "['SENSOR', '3', '3.9376280419', '0.858518143986']\n",
      "['SENSOR', '4', '4.78153044206', '-2.1711021116']\n",
      "['SENSOR', '5', '5.01779109603', '-1.4755448089']\n",
      "['SENSOR', '7', '0.400487152841', '0.0954002442539']\n",
      "['SENSOR', '8', '1.5705356409', '2.92820511279']\n",
      "['SENSOR', '9', '4.55151136998', '0.00907004840239']\n",
      "['ODOMETRY', '-0.00015974321687', '0.100001954963', '0.000375007480502']\n",
      "['SENSOR', '1', '4.70778012293', '2.42157051538']\n",
      "['SENSOR', '3', '3.97505453196', '0.932447245049']\n",
      "['SENSOR', '4', '4.70850325866', '-2.17152767966']\n",
      "['SENSOR', '5', '4.95124738508', '-1.40632188062']\n",
      "['SENSOR', '7', '0.383618192004', '0.149257977921']\n",
      "['SENSOR', '8', '1.42134250744', '3.07398092328']\n",
      "['SENSOR', '9', '4.4606042563', '-0.0161739269736']\n",
      "['ODOMETRY', '-0.000584883749866', '0.0998918193766', '0.000164194828446']\n",
      "['SENSOR', '1', '4.79178293375', '2.48566706534']\n",
      "['SENSOR', '3', '3.63177076576', '0.880780831994']\n",
      "['SENSOR', '4', '5.01568989921', '-2.26708689866']\n",
      "['SENSOR', '5', '4.98135878948', '-1.51500189459']\n",
      "['SENSOR', '7', '0.270711489516', '0.323697074147']\n",
      "['SENSOR', '8', '1.83521291936', '3.07684872323']\n",
      "['SENSOR', '9', '4.49376890802', '0.0459102111966']\n",
      "['ODOMETRY', '0.000303680491478', '0.100162153889', '9.76063766532e-05']\n",
      "['SENSOR', '1', '4.87239258496', '2.49373595981']\n",
      "['SENSOR', '3', '3.63961037672', '0.972600323588']\n",
      "['SENSOR', '4', '5.06493994808', '-2.19537045826']\n",
      "['SENSOR', '5', '4.87043159977', '-1.5187934091']\n",
      "['SENSOR', '7', '0.158485679685', '0.430892408212']\n",
      "['SENSOR', '8', '1.94404523721', '3.02999537927']\n",
      "['SENSOR', '9', '4.25502389275', '0.0807923140829']\n",
      "['ODOMETRY', '-0.000118594429945', '0.100038226107', '0.0016860488551']\n",
      "['SENSOR', '3', '3.85525315557', '0.972472209298']\n",
      "['SENSOR', '4', '4.7395963428', '-2.22231607732']\n",
      "['SENSOR', '5', '5.03393746044', '-1.59221850796']\n",
      "['SENSOR', '6', '5.09689220959', '-0.905474203378']\n",
      "['SENSOR', '7', '0.210352002822', '1.03187235077']\n",
      "['SENSOR', '8', '2.18673487592', '3.14059664668']\n",
      "['SENSOR', '9', '4.10712293299', '0.0906600190361']\n"
     ]
    }
   ],
   "source": [
    "# считывание данных\n",
    "f = open('/data files/sensor_data_ekf.dat')\n",
    "for line in f:\n",
    "    q = line.split()\n",
    "    print(q)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "c40c22fa",
   "metadata": {},
   "source": [
    "считывание координат датчиков"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "37d2eaf2",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[1, 2, 1], [2, 0, 4], [3, 2, 7], [4, 9, 2], [5, 10, 5], [6, 9, 8], [7, 5, 5], [8, 5, 3], [9, 5, 9]]\n"
     ]
    }
   ],
   "source": [
    "L = []\n",
    "f = open('/data files/landmarks.dat')\n",
    "for line in f:\n",
    "    L.append( [int(x) for x in line.split()])\n",
    "print(L)\n",
    "number_of_sensors = len(L)*2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "id": "2ab618f5",
   "metadata": {},
   "outputs": [],
   "source": [
    "def nrml(ang):\n",
    "    while ang > math.pi:\n",
    "        ang-= 2*math.pi\n",
    "    while ang < -math.pi:\n",
    "        ang+= 2*math.pi\n",
    "    return ang"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "id": "34f26142",
   "metadata": {},
   "outputs": [],
   "source": [
    "def conc(Y,x):\n",
    "    if len(Y) == 0:\n",
    "        return x\n",
    "    else:\n",
    "        return np.vstack((Y,x))"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "25a03a1d",
   "metadata": {},
   "source": [
    "# UKF для только расстояний"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "d9ee774e",
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1\n",
      "ODOMETRY 0.101373685667 0.0996252285934 0.000862235559071\n",
      "\n",
      "num = \n",
      "2\n",
      "SENSOR 1 2.29725290252 0.353956815014\n",
      "\n",
      "num = \n",
      "3\n",
      "SENSOR 2 4.01825728983 1.51507415344\n",
      "\n",
      "num = \n",
      "4\n",
      "ODOMETRY 0.101823187296 0.0997248889496 -0.000206654546125\n",
      "\n",
      "num = \n",
      "5\n",
      "SENSOR 1 1.96846687533 0.276209105501\n",
      "\n",
      "num = \n",
      "6\n",
      "SENSOR 2 3.87986704568 1.40393072429\n",
      "\n",
      "num = \n",
      "7\n",
      "ODOMETRY 0.100901695741 0.0997582630735 -0.000381616354179\n",
      "\n",
      "num = \n",
      "8\n",
      "SENSOR 1 1.96852886749 0.242784804425\n",
      "\n",
      "num = \n",
      "9\n",
      "SENSOR 2 3.87971065887 1.32647676387\n",
      "\n",
      "num = \n",
      "10\n",
      "ODOMETRY 0.0997651394437 0.0997993534855 -0.000208097310853\n",
      "\n",
      "num = \n",
      "11\n",
      "SENSOR 1 1.87508331126 0.0936569272975\n",
      "\n",
      "num = \n",
      "12\n",
      "SENSOR 2 3.849192179 1.20772931615\n",
      "\n",
      "num = \n",
      "13\n",
      "ODOMETRY 0.0988021399415 0.100360366225 -0.00122883669589\n",
      "\n",
      "num = \n",
      "14\n",
      "SENSOR 1 1.64421872619 -0.0593514730712\n",
      "\n",
      "num = \n",
      "15\n",
      "SENSOR 2 3.95417280741 1.25970767463\n",
      "\n",
      "num = \n",
      "16\n",
      "ODOMETRY 0.0998731020684 0.0998098334361 0.000926085589796\n",
      "\n",
      "num = \n",
      "17\n",
      "SENSOR 1 1.64079501221 -0.137553375677\n",
      "\n",
      "num = \n",
      "18\n",
      "SENSOR 2 3.59759872767 1.04090139691\n",
      "\n",
      "num = \n",
      "19\n",
      "ODOMETRY 0.100314651053 0.0996200579912 0.000575268519869\n",
      "\n",
      "num = \n",
      "20\n",
      "SENSOR 1 1.63668963967 -0.164205155951\n",
      "\n",
      "num = \n",
      "21\n",
      "SENSOR 2 3.76733107867 1.02783331425\n",
      "\n",
      "num = \n",
      "22\n",
      "ODOMETRY 0.100066427373 0.0997787196014 0.00016140029208\n",
      "\n",
      "num = \n",
      "23\n",
      "SENSOR 1 1.35096574442 -0.290175121698\n",
      "\n",
      "num = \n",
      "24\n",
      "SENSOR 2 3.77521988295 0.983315510779\n",
      "\n",
      "num = \n",
      "25\n",
      "ODOMETRY 0.100757002056 0.0998428685737 -0.000211648847469\n",
      "\n",
      "num = \n",
      "26\n",
      "SENSOR 8 4.9185663896 -0.395438658587\n",
      "\n",
      "num = \n",
      "27\n",
      "SENSOR 1 1.34647237204 -0.509755484258\n",
      "\n",
      "num = \n",
      "28\n",
      "SENSOR 2 3.71427679672 0.92294567505\n",
      "\n",
      "num = \n",
      "29\n",
      "ODOMETRY 0.100962422572 0.0998534959103 0.000658662316867\n",
      "\n",
      "num = \n",
      "30\n",
      "SENSOR 8 4.87575158242 -0.471161323013\n",
      "\n",
      "num = \n",
      "31\n",
      "SENSOR 1 1.14340287924 -0.63651274602\n",
      "\n",
      "num = \n",
      "32\n",
      "SENSOR 2 3.52742272729 0.827358592505\n",
      "\n",
      "num = \n",
      "33\n",
      "ODOMETRY 0.0992390051029 0.100115677426 -0.000216811832096\n",
      "\n",
      "num = \n",
      "34\n",
      "SENSOR 8 4.72075160291 -0.539321605004\n",
      "\n",
      "num = \n",
      "35\n",
      "SENSOR 1 1.21638996495 -0.860593555215\n",
      "\n",
      "num = \n",
      "36\n",
      "SENSOR 2 3.70903844372 0.752159761487\n",
      "\n",
      "num = \n",
      "37\n",
      "ODOMETRY 0.0489965903845 0.100051905877 -0.000257629385974\n",
      "\n",
      "num = \n",
      "38\n",
      "SENSOR 8 4.86663909002 -0.673941110611\n",
      "\n",
      "num = \n",
      "39\n",
      "SENSOR 1 1.19962918841 -0.911110534625\n",
      "\n",
      "num = \n",
      "40\n",
      "SENSOR 2 3.4305673166 0.673488499054\n",
      "\n",
      "num = \n",
      "41\n",
      "ODOMETRY 0.0998222275061 0.0996351296598 -0.000153756252698\n",
      "\n",
      "num = \n",
      "42\n",
      "SENSOR 8 4.58351837652 -0.750587339257\n",
      "\n",
      "num = \n",
      "43\n",
      "SENSOR 1 1.19033672649 -1.04401316016\n",
      "\n",
      "num = \n",
      "44\n",
      "SENSOR 2 3.21903139503 0.608609177764\n",
      "\n",
      "num = \n",
      "45\n",
      "ODOMETRY 0.101077500499 0.0998498505796 -0.000160756806792\n",
      "\n",
      "num = \n",
      "46\n",
      "SENSOR 8 4.47638974681 -0.87477261163\n",
      "\n",
      "num = \n",
      "47\n",
      "SENSOR 1 0.930451391422 -1.25663412504\n",
      "\n",
      "num = \n",
      "48\n",
      "SENSOR 2 3.30661799717 0.524107985292\n",
      "\n",
      "num = \n",
      "49\n",
      "ODOMETRY 0.100521808815 0.100140214715 -0.00102153918024\n",
      "\n",
      "num = \n",
      "50\n",
      "SENSOR 8 4.42544858746 -1.03059237397\n",
      "\n",
      "num = \n",
      "51\n",
      "SENSOR 1 1.09621121037 -1.43900397462\n",
      "\n",
      "num = \n",
      "52\n",
      "SENSOR 2 3.2382990193 0.518547924017\n",
      "\n",
      "num = \n",
      "53\n",
      "ODOMETRY 0.0991500821073 0.10013162298 0.00061821939171\n",
      "\n",
      "num = \n",
      "54\n",
      "SENSOR 8 4.48032266707 -1.16853964317\n",
      "\n",
      "num = \n",
      "55\n",
      "SENSOR 1 1.05453646597 -1.57360343045\n",
      "\n",
      "num = \n",
      "56\n",
      "SENSOR 2 3.12147771546 0.369604279194\n",
      "\n",
      "num = \n",
      "57\n",
      "ODOMETRY 0.000277686359907 0.0999909476789 -5.65207074877e-05\n",
      "\n",
      "num = \n",
      "58\n",
      "SENSOR 8 4.51041519435 -1.13505398802\n",
      "\n",
      "num = \n",
      "59\n",
      "SENSOR 1 1.01408592378 -1.6209817432\n",
      "\n",
      "num = \n",
      "60\n",
      "SENSOR 2 3.0349959581 0.307197125698\n",
      "\n",
      "num = \n",
      "61\n",
      "ODOMETRY -0.000206028015542 0.100097050614 0.00122219552996\n",
      "\n",
      "num = \n",
      "62\n",
      "SENSOR 8 4.47730873513 -1.08933708692\n",
      "\n",
      "num = \n",
      "63\n",
      "SENSOR 1 0.977458402036 -1.79104939149\n",
      "\n",
      "num = \n",
      "64\n",
      "SENSOR 2 2.7939870742 0.344183271835\n",
      "\n",
      "num = \n",
      "65\n",
      "ODOMETRY -0.000589698440506 0.100045946005 -1.26097962524e-05\n",
      "\n",
      "num = \n",
      "66\n",
      "SENSOR 8 4.31671160573 -1.13337841163\n",
      "\n",
      "num = \n",
      "67\n",
      "SENSOR 1 0.886564013958 -1.96817341764\n",
      "\n",
      "num = \n",
      "68\n",
      "SENSOR 2 2.8062997236 0.378866179691\n",
      "\n",
      "num = \n",
      "69\n",
      "ODOMETRY 0.000268189622775 0.099944716103 0.000225158589822\n",
      "\n",
      "num = \n",
      "70\n",
      "SENSOR 8 4.44217614349 -1.17703179109\n",
      "\n",
      "num = \n",
      "71\n",
      "SENSOR 1 1.00399386332 -1.97871776411\n",
      "\n",
      "num = \n",
      "72\n",
      "SENSOR 2 2.87352149613 0.402848100533\n",
      "\n",
      "num = \n",
      "73\n",
      "ODOMETRY -0.000740364779592 0.0999166193458 0.000304584312929\n",
      "\n",
      "num = \n",
      "74\n",
      "SENSOR 8 4.41002211254 -1.2055058086\n",
      "\n",
      "num = \n",
      "75\n",
      "SENSOR 1 1.20240484656 -2.09055794649\n",
      "\n",
      "num = \n",
      "76\n",
      "SENSOR 2 2.61257298591 0.400689815362\n",
      "\n",
      "num = \n",
      "77\n",
      "ODOMETRY -0.00093907783548 0.0999937264589 -0.000488136208846\n",
      "\n",
      "num = \n",
      "78\n",
      "SENSOR 8 4.28220992404 -1.22818070834\n",
      "\n",
      "num = \n",
      "79\n",
      "SENSOR 1 1.35806022311 -2.03308175218\n",
      "\n",
      "num = \n",
      "80\n",
      "SENSOR 2 2.41796456399 0.428960172356\n",
      "\n",
      "num = \n",
      "81\n",
      "ODOMETRY 0.000672986065937 0.0999170760041 9.59803128141e-05\n",
      "\n",
      "num = \n",
      "82\n",
      "SENSOR 8 4.22916152226 -1.1920443901\n",
      "\n",
      "num = \n",
      "83\n",
      "SENSOR 1 1.43456173466 -2.20151685421\n",
      "\n",
      "num = \n",
      "84\n",
      "SENSOR 2 2.54268409924 0.418576167122\n",
      "\n",
      "num = \n",
      "85\n",
      "ODOMETRY -0.000190086120117 0.0998500295775 -0.00120829073569\n",
      "\n",
      "num = \n",
      "86\n",
      "SENSOR 8 4.25479049036 -1.29393177827\n",
      "\n",
      "num = \n",
      "87\n",
      "SENSOR 1 1.3915222382 -2.32656801851\n",
      "\n",
      "num = \n",
      "88\n",
      "SENSOR 2 2.22979301015 0.456482047365\n",
      "\n",
      "num = \n",
      "89\n",
      "ODOMETRY 0.000473163132143 0.09995123511 -0.000781756651883\n",
      "\n",
      "num = \n",
      "90\n",
      "SENSOR 8 4.18161649136 -1.28816567381\n",
      "\n",
      "num = \n",
      "91\n",
      "SENSOR 1 1.3025278855 -2.3472367671\n",
      "\n",
      "num = \n",
      "92\n",
      "SENSOR 2 2.30576040901 0.369157306239\n",
      "\n",
      "num = \n",
      "93\n",
      "ODOMETRY -0.000559278187115 0.100028723409 9.13999205286e-06\n",
      "\n",
      "num = \n",
      "94\n",
      "SENSOR 8 4.17489666144 -1.34658482855\n",
      "\n",
      "num = \n",
      "95\n",
      "SENSOR 1 1.3978512621 -2.36482377797\n",
      "\n",
      "num = \n",
      "96\n",
      "SENSOR 2 2.11259117923 0.471244681669\n",
      "\n",
      "num = \n",
      "97\n",
      "SENSOR 7 5.05551177517 -0.919442363958\n",
      "\n",
      "num = \n",
      "98\n",
      "ODOMETRY 0.000257701615542 0.10004347626 -0.000159471500187\n",
      "\n",
      "num = \n",
      "99\n",
      "SENSOR 8 3.962669916 -1.30912369209\n",
      "\n",
      "num = \n",
      "100\n",
      "SENSOR 1 1.70916168099 -2.46045075948\n",
      "\n",
      "num = \n",
      "101\n",
      "SENSOR 2 2.02595774502 0.554005367169\n",
      "\n",
      "num = \n",
      "102\n",
      "SENSOR 3 4.7371187823 -0.173423905805\n",
      "\n",
      "num = \n",
      "103\n",
      "SENSOR 7 4.82701773051 -0.911583275309\n",
      "\n",
      "num = \n",
      "104\n",
      "ODOMETRY -0.000132246838171 0.100204785792 0.000451918927672\n",
      "\n",
      "num = \n",
      "105\n",
      "SENSOR 8 3.98259516004 -1.43618538277\n",
      "\n",
      "num = \n",
      "106\n",
      "SENSOR 1 1.79511416601 -2.47746949194\n",
      "\n",
      "num = \n",
      "107\n",
      "SENSOR 2 2.06053687043 0.463761690139\n",
      "\n",
      "num = \n",
      "108\n",
      "SENSOR 3 4.8224768036 -0.239591007404\n",
      "\n",
      "num = \n",
      "109\n",
      "SENSOR 7 4.77817974323 -1.00970624708\n",
      "\n",
      "num = \n",
      "110\n",
      "ODOMETRY 0.000547071844751 0.100153178582 -0.00035008972123\n",
      "\n",
      "num = \n",
      "111\n",
      "SENSOR 8 3.83264320308 -1.36158444573\n",
      "\n",
      "num = \n",
      "112\n",
      "SENSOR 1 1.80852245484 -2.51982496643\n",
      "\n",
      "num = \n",
      "113\n",
      "SENSOR 2 1.96102088098 0.610994481673\n",
      "\n",
      "num = \n",
      "114\n",
      "SENSOR 3 4.85211156128 -0.1489018205\n",
      "\n",
      "num = \n",
      "115\n",
      "SENSOR 7 4.71279477962 -0.937135174382\n",
      "\n",
      "num = \n",
      "116\n",
      "ODOMETRY -0.000479308539659 0.0998432674256 -0.000777162798183\n",
      "\n",
      "num = \n",
      "117\n",
      "SENSOR 8 3.98024682642 -1.42089195757\n",
      "\n",
      "num = \n",
      "118\n",
      "SENSOR 1 1.68616417487 -2.51982610203\n",
      "\n",
      "num = \n",
      "119\n",
      "SENSOR 2 1.84497621719 0.568224090854\n",
      "\n",
      "num = \n",
      "120\n",
      "SENSOR 3 4.61852185259 -0.195327764501\n",
      "\n",
      "num = \n",
      "121\n",
      "SENSOR 7 4.6199153731 -0.979883951883\n",
      "\n",
      "num = \n",
      "122\n",
      "ODOMETRY 5.14521975978e-05 0.0998424550095 -0.00128773957906\n",
      "\n",
      "num = \n",
      "123\n",
      "SENSOR 8 4.07638490671 -1.48596910761\n",
      "\n",
      "num = \n",
      "124\n",
      "SENSOR 1 2.10918785502 -2.53013604019\n",
      "\n",
      "num = \n",
      "125\n",
      "SENSOR 2 1.87374300045 0.596795933857\n",
      "\n",
      "num = \n",
      "126\n",
      "SENSOR 3 4.63925938223 -0.116829211894\n",
      "\n",
      "num = \n",
      "127\n",
      "SENSOR 7 4.74670921432 -1.04281914214\n",
      "\n",
      "num = \n",
      "128\n",
      "ODOMETRY 0.000828058608643 0.0998754656366 0.000718626272025\n",
      "\n",
      "num = \n",
      "129\n",
      "SENSOR 8 3.98430154528 -1.48232363932\n",
      "\n",
      "num = \n",
      "130\n",
      "SENSOR 1 1.95702304621 -2.53750111924\n",
      "\n",
      "num = \n",
      "131\n",
      "SENSOR 2 1.58489922833 0.698949835685\n",
      "\n",
      "num = \n",
      "132\n",
      "SENSOR 3 4.4671595916 -0.168854291814\n",
      "\n",
      "num = \n",
      "133\n",
      "SENSOR 7 4.52930108719 -1.12389445264\n",
      "\n",
      "num = \n",
      "134\n",
      "ODOMETRY -0.000158830047539 0.100032780056 -0.000437720533696\n",
      "\n",
      "num = \n",
      "135\n",
      "SENSOR 8 3.84481274007 -1.42332717446\n",
      "\n",
      "num = \n",
      "136\n",
      "SENSOR 1 1.79980984001 -2.58723622781\n",
      "\n",
      "num = \n",
      "137\n",
      "SENSOR 2 1.44542795818 0.621521479992\n",
      "\n",
      "num = \n",
      "138\n",
      "SENSOR 3 4.16016807253 -0.216426375373\n",
      "\n",
      "num = \n",
      "139\n",
      "SENSOR 7 4.49513851102 -1.01028497886\n",
      "\n",
      "num = \n",
      "140\n",
      "ODOMETRY 0.000133544385368 0.100021589888 0.00109303965336\n",
      "\n",
      "num = \n",
      "141\n",
      "SENSOR 8 4.07172862971 -1.54542949541\n",
      "\n",
      "num = \n",
      "142\n",
      "SENSOR 1 2.04327443852 -2.64266309511\n",
      "\n",
      "num = \n",
      "143\n",
      "SENSOR 2 1.62012370037 0.749575235679\n",
      "\n",
      "num = \n",
      "144\n",
      "SENSOR 3 4.2939412228 -0.211337985351\n",
      "\n",
      "num = \n",
      "145\n",
      "SENSOR 7 4.55765990908 -1.01012265001\n",
      "\n",
      "num = \n",
      "146\n",
      "ODOMETRY 0.000256984803676 0.100174110326 -7.36342307491e-05\n",
      "\n",
      "num = \n",
      "147\n",
      "SENSOR 8 4.06698092589 -1.56722255044\n",
      "\n",
      "num = \n",
      "148\n",
      "SENSOR 1 2.24512586768 -2.5437818487\n",
      "\n",
      "num = \n",
      "149\n",
      "SENSOR 2 1.37145664293 0.831882746959\n",
      "\n",
      "num = \n",
      "150\n",
      "SENSOR 3 4.22397677315 -0.235036227202\n",
      "\n",
      "num = \n",
      "151\n",
      "SENSOR 7 4.41926718082 -1.00471126329\n",
      "\n",
      "num = \n",
      "152\n",
      "ODOMETRY 0.00058192498751 0.0999391933134 -0.00023129046615\n",
      "\n",
      "num = \n",
      "153\n",
      "SENSOR 8 3.97991042562 -1.60690152056\n",
      "\n",
      "num = \n",
      "154\n",
      "SENSOR 1 2.35643859208 -2.67866850272\n",
      "\n",
      "num = \n",
      "155\n",
      "SENSOR 2 1.45749408492 0.830132685583\n",
      "\n",
      "num = \n",
      "156\n",
      "SENSOR 3 4.02815458891 -0.258831937496\n",
      "\n",
      "num = \n",
      "157\n",
      "SENSOR 7 4.42145324114 -1.10938279886\n",
      "\n",
      "num = \n",
      "158\n",
      "ODOMETRY 0.000696732375949 0.100156157706 -0.000584089998119\n",
      "\n",
      "num = \n",
      "159\n",
      "SENSOR 8 4.14607416122 -1.62652743084\n",
      "\n",
      "num = \n",
      "160\n",
      "SENSOR 1 2.4585060639 -2.62149672021\n",
      "\n",
      "num = \n",
      "161\n",
      "SENSOR 2 1.39609946002 0.827146029562\n",
      "\n",
      "num = \n",
      "162\n",
      "SENSOR 3 4.01022306014 -0.221408239995\n",
      "\n",
      "num = \n",
      "163\n",
      "SENSOR 7 4.26091719102 -1.12261197694\n",
      "\n",
      "num = \n",
      "164\n",
      "ODOMETRY 3.6215575313e-05 0.0999441653561 0.000171557215833\n",
      "\n",
      "num = \n",
      "165\n",
      "SENSOR 8 4.09025633382 -1.62902600145\n",
      "\n",
      "num = \n",
      "166\n",
      "SENSOR 1 2.36969383929 -2.76059077539\n",
      "\n",
      "num = \n",
      "167\n",
      "SENSOR 2 1.19862098202 1.02746191761\n",
      "\n",
      "num = \n",
      "168\n",
      "SENSOR 3 3.79856589715 -0.166995804924\n",
      "\n",
      "num = \n",
      "169\n",
      "SENSOR 7 4.28290107013 -1.22394878975\n",
      "\n",
      "num = \n",
      "170\n",
      "ODOMETRY -8.01303873469e-05 0.100119970896 0.000927184717075\n",
      "\n",
      "num = \n",
      "171\n",
      "SENSOR 8 4.07670842571 -1.65993610399\n",
      "\n",
      "num = \n",
      "172\n",
      "SENSOR 1 2.69624348373 -2.70745662616\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "173\n",
      "SENSOR 2 1.27863825632 1.0228680341\n",
      "\n",
      "num = \n",
      "174\n",
      "SENSOR 3 3.69329884881 -0.310970841602\n",
      "\n",
      "num = \n",
      "175\n",
      "SENSOR 7 4.33458610704 -1.19229396722\n",
      "\n",
      "num = \n",
      "176\n",
      "ODOMETRY 0.000523456685193 0.100105137199 9.69165742264e-05\n",
      "\n",
      "num = \n",
      "177\n",
      "SENSOR 8 4.19218444921 -1.62918746421\n",
      "\n",
      "num = \n",
      "178\n",
      "SENSOR 1 2.56469838469 -2.73365039673\n",
      "\n",
      "num = \n",
      "179\n",
      "SENSOR 2 1.07742306684 1.02436797734\n",
      "\n",
      "num = \n",
      "180\n",
      "SENSOR 3 3.79502409217 -0.2864736654\n",
      "\n",
      "num = \n",
      "181\n",
      "SENSOR 7 4.23474402594 -1.08843934559\n",
      "\n",
      "num = \n",
      "182\n",
      "ODOMETRY 0.000760851469688 0.0999197195975 -0.000675084333497\n",
      "\n",
      "num = \n",
      "183\n",
      "SENSOR 8 3.97471624618 -1.67287700529\n",
      "\n",
      "num = \n",
      "184\n",
      "SENSOR 1 2.75006267624 -2.92186387986\n",
      "\n",
      "num = \n",
      "185\n",
      "SENSOR 2 1.07790545646 1.14460483582\n",
      "\n",
      "num = \n",
      "186\n",
      "SENSOR 3 3.65459543213 -0.30509704695\n",
      "\n",
      "num = \n",
      "187\n",
      "SENSOR 7 4.07939470262 -1.19849586955\n",
      "\n",
      "num = \n",
      "188\n",
      "ODOMETRY 0.0001776465883 0.100000660883 -0.000138153337743\n",
      "\n",
      "num = \n",
      "189\n",
      "SENSOR 8 4.04139703382 -1.80527111094\n",
      "\n",
      "num = \n",
      "190\n",
      "SENSOR 1 2.81682858649 -2.73778261664\n",
      "\n",
      "num = \n",
      "191\n",
      "SENSOR 2 1.01157732908 1.35009000631\n",
      "\n",
      "num = \n",
      "192\n",
      "SENSOR 3 3.43641149431 -0.177181332772\n",
      "\n",
      "num = \n",
      "193\n",
      "SENSOR 7 4.1134848859 -1.19890280774\n",
      "\n",
      "num = \n",
      "194\n",
      "ODOMETRY -9.54350459669e-05 0.100059958212 0.000505361195257\n",
      "\n",
      "num = \n",
      "195\n",
      "SENSOR 8 4.14771152129 -1.65785363504\n",
      "\n",
      "num = \n",
      "196\n",
      "SENSOR 1 2.97373538756 -2.76749218654\n",
      "\n",
      "num = \n",
      "197\n",
      "SENSOR 2 1.08572526299 1.27905533571\n",
      "\n",
      "num = \n",
      "198\n",
      "SENSOR 3 3.19721928714 -0.285485802808\n",
      "\n",
      "num = \n",
      "199\n",
      "SENSOR 7 4.30425329678 -1.23670399341\n",
      "\n",
      "num = \n",
      "200\n",
      "ODOMETRY -0.000425877997443 0.100165010148 0.000263981771762\n",
      "\n",
      "num = \n",
      "201\n",
      "SENSOR 8 4.0209837071 -1.67421338488\n",
      "\n",
      "num = \n",
      "202\n",
      "SENSOR 1 2.98678421634 -2.79971956357\n",
      "\n",
      "num = \n",
      "203\n",
      "SENSOR 2 1.01794738917 1.50929471669\n",
      "\n",
      "num = \n",
      "204\n",
      "SENSOR 3 3.17923741534 -0.348369090478\n",
      "\n",
      "num = \n",
      "205\n",
      "SENSOR 7 4.02065742023 -1.27095421415\n",
      "\n",
      "num = \n",
      "206\n",
      "ODOMETRY 6.98085102272e-05 0.0998571294686 0.000814819876331\n",
      "\n",
      "num = \n",
      "207\n",
      "SENSOR 8 3.94704456339 -1.84097040455\n",
      "\n",
      "num = \n",
      "208\n",
      "SENSOR 1 3.00070004218 -2.81153261862\n",
      "\n",
      "num = \n",
      "209\n",
      "SENSOR 2 1.11963656291 1.61697540263\n",
      "\n",
      "num = \n",
      "210\n",
      "SENSOR 3 3.16238211291 -0.347631273442\n",
      "\n",
      "num = \n",
      "211\n",
      "SENSOR 7 4.11202372197 -1.30111395385\n",
      "\n",
      "num = \n",
      "212\n",
      "ODOMETRY -4.66038294942e-05 0.100189586967 -5.21580102793e-05\n",
      "\n",
      "num = \n",
      "213\n",
      "SENSOR 8 4.01514296922 -1.96395215815\n",
      "\n",
      "num = \n",
      "214\n",
      "SENSOR 1 3.31125551661 -2.81890526713\n",
      "\n",
      "num = \n",
      "215\n",
      "SENSOR 2 1.08993866286 1.69673860324\n",
      "\n",
      "num = \n",
      "216\n",
      "SENSOR 3 3.16301966354 -0.29879355839\n",
      "\n",
      "num = \n",
      "217\n",
      "SENSOR 7 4.0697079487 -1.2813948975\n",
      "\n",
      "num = \n",
      "218\n",
      "ODOMETRY -1.1888042286e-05 0.0999378556007 0.000874157595222\n",
      "\n",
      "num = \n",
      "219\n",
      "SENSOR 8 4.2194758592 -1.87684781408\n",
      "\n",
      "num = \n",
      "220\n",
      "SENSOR 1 3.38916611019 -2.79022010215\n",
      "\n",
      "num = \n",
      "221\n",
      "SENSOR 2 0.953931009281 1.74716622466\n",
      "\n",
      "num = \n",
      "222\n",
      "SENSOR 3 2.97789976956 -0.385301687676\n",
      "\n",
      "num = \n",
      "223\n",
      "SENSOR 7 3.99090383462 -1.29098027348\n",
      "\n",
      "num = \n",
      "224\n",
      "ODOMETRY -0.000548398686482 0.0999074163285 -0.000586249282159\n",
      "\n",
      "num = \n",
      "225\n",
      "SENSOR 8 4.01544662734 -1.8776296021\n",
      "\n",
      "num = \n",
      "226\n",
      "SENSOR 1 3.58685644655 -2.88216804\n",
      "\n",
      "num = \n",
      "227\n",
      "SENSOR 2 1.09959994011 1.88380797133\n",
      "\n",
      "num = \n",
      "228\n",
      "SENSOR 3 3.10144999253 -0.263328469751\n",
      "\n",
      "num = \n",
      "229\n",
      "SENSOR 7 4.13471788936 -1.42326420591\n",
      "\n",
      "num = \n",
      "230\n",
      "ODOMETRY 0.000209771470498 0.0999383153862 0.000442898738476\n",
      "\n",
      "num = \n",
      "231\n",
      "SENSOR 8 4.11908889453 -1.84906255817\n",
      "\n",
      "num = \n",
      "232\n",
      "SENSOR 1 3.40262134444 -2.79577392772\n",
      "\n",
      "num = \n",
      "233\n",
      "SENSOR 2 0.98313589166 1.93949068611\n",
      "\n",
      "num = \n",
      "234\n",
      "SENSOR 3 2.76424553473 -0.353284737573\n",
      "\n",
      "num = \n",
      "235\n",
      "SENSOR 7 4.04514369826 -1.34914177025\n",
      "\n",
      "num = \n",
      "236\n",
      "ODOMETRY -0.000636488566826 0.0999395698257 0.000643908734646\n",
      "\n",
      "num = \n",
      "237\n",
      "SENSOR 8 4.26368708251 -1.95171561203\n",
      "\n",
      "num = \n",
      "238\n",
      "SENSOR 1 3.59611549468 -2.8643885436\n",
      "\n",
      "num = \n",
      "239\n",
      "SENSOR 2 1.25741341306 2.05874595093\n",
      "\n",
      "num = \n",
      "240\n",
      "SENSOR 3 2.62985116185 -0.340176489157\n",
      "\n",
      "num = \n",
      "241\n",
      "SENSOR 7 4.0715354283 -1.34078750934\n",
      "\n",
      "num = \n",
      "242\n",
      "ODOMETRY -0.000749506228593 0.0998919597135 0.000431194734685\n",
      "\n",
      "num = \n",
      "243\n",
      "SENSOR 8 4.21795338302 -1.92674399779\n",
      "\n",
      "num = \n",
      "244\n",
      "SENSOR 1 3.64715670833 -2.88849823757\n",
      "\n",
      "num = \n",
      "245\n",
      "SENSOR 2 1.15505103131 2.09289492551\n",
      "\n",
      "num = \n",
      "246\n",
      "SENSOR 3 2.52001295552 -0.472631064422\n",
      "\n",
      "num = \n",
      "247\n",
      "SENSOR 7 3.95528847465 -1.41585544885\n",
      "\n",
      "num = \n",
      "248\n",
      "ODOMETRY 0.000406907201319 0.0998586394002 4.54817335274e-05\n",
      "\n",
      "num = \n",
      "249\n",
      "SENSOR 8 4.36749740434 -2.0474823273\n",
      "\n",
      "num = \n",
      "250\n",
      "SENSOR 1 3.68174071666 -2.9201773312\n",
      "\n",
      "num = \n",
      "251\n",
      "SENSOR 2 1.22696609171 2.26296774635\n",
      "\n",
      "num = \n",
      "252\n",
      "SENSOR 3 2.41868212361 -0.336817224032\n",
      "\n",
      "num = \n",
      "253\n",
      "SENSOR 7 3.98911047334 -1.47028485405\n",
      "\n",
      "num = \n",
      "254\n",
      "ODOMETRY 0.00020261199028 0.0999232742711 -0.00079340859659\n",
      "\n",
      "num = \n",
      "255\n",
      "SENSOR 8 4.3737723756 -1.93110738924\n",
      "\n",
      "num = \n",
      "256\n",
      "SENSOR 1 3.8479658409 -2.96461382002\n",
      "\n",
      "num = \n",
      "257\n",
      "SENSOR 2 1.44650342879 2.19184285471\n",
      "\n",
      "num = \n",
      "258\n",
      "SENSOR 3 2.4378797797 -0.376196945898\n",
      "\n",
      "num = \n",
      "259\n",
      "SENSOR 7 3.99144004155 -1.53192738274\n",
      "\n",
      "num = \n",
      "260\n",
      "ODOMETRY 0.000476456640183 0.0999946391606 0.000673997332114\n",
      "\n",
      "num = \n",
      "261\n",
      "SENSOR 8 4.18501121114 -1.96001604794\n",
      "\n",
      "num = \n",
      "262\n",
      "SENSOR 1 3.94177735119 -2.84551297654\n",
      "\n",
      "num = \n",
      "263\n",
      "SENSOR 2 1.18038634345 2.41547551073\n",
      "\n",
      "num = \n",
      "264\n",
      "SENSOR 3 2.25386927139 -0.458608006904\n",
      "\n",
      "num = \n",
      "265\n",
      "SENSOR 7 4.01204561994 -1.48975256344\n",
      "\n",
      "num = \n",
      "266\n",
      "ODOMETRY 0.000136092271998 0.0999996467097 -0.000522848477433\n",
      "\n",
      "num = \n",
      "267\n",
      "SENSOR 8 4.40946468491 -2.02094252774\n",
      "\n",
      "num = \n",
      "268\n",
      "SENSOR 1 3.91922179189 -2.87072202395\n",
      "\n",
      "num = \n",
      "269\n",
      "SENSOR 2 1.44580310453 2.32508479098\n",
      "\n",
      "num = \n",
      "270\n",
      "SENSOR 3 2.15756119315 -0.424067573571\n",
      "\n",
      "num = \n",
      "271\n",
      "SENSOR 7 4.06104474419 -1.57224455589\n",
      "\n",
      "num = \n",
      "272\n",
      "ODOMETRY 0.000302269878199 0.0999353432319 0.000539895064198\n",
      "\n",
      "num = \n",
      "273\n",
      "SENSOR 8 4.5165550898 -2.00275541219\n",
      "\n",
      "num = \n",
      "274\n",
      "SENSOR 1 4.25083690758 -2.88476512783\n",
      "\n",
      "num = \n",
      "275\n",
      "SENSOR 2 1.59664742666 2.36949118143\n",
      "\n",
      "num = \n",
      "276\n",
      "SENSOR 3 2.18656915806 -0.37303565508\n",
      "\n",
      "num = \n",
      "277\n",
      "SENSOR 7 4.05007373159 -1.58049943139\n",
      "\n",
      "num = \n",
      "278\n",
      "ODOMETRY 0.00013361527452 0.100074513275 0.000560546767954\n",
      "\n",
      "num = \n",
      "279\n",
      "SENSOR 8 4.4359853347 -1.98886105814\n",
      "\n",
      "num = \n",
      "280\n",
      "SENSOR 1 4.34929216262 -2.84640872927\n",
      "\n",
      "num = \n",
      "281\n",
      "SENSOR 2 1.51357200054 2.46096763847\n",
      "\n",
      "num = \n",
      "282\n",
      "SENSOR 3 2.1177123351 -0.433574921219\n",
      "\n",
      "num = \n",
      "283\n",
      "SENSOR 7 3.63185364294 -1.65552297298\n",
      "\n",
      "num = \n",
      "284\n",
      "ODOMETRY -0.000748347401324 0.0999214044639 0.000183054107003\n",
      "\n",
      "num = \n",
      "285\n",
      "SENSOR 8 4.33976493299 -2.0786008695\n",
      "\n",
      "num = \n",
      "286\n",
      "SENSOR 1 4.26489841524 -2.98062522043\n",
      "\n",
      "num = \n",
      "287\n",
      "SENSOR 2 1.61966127202 2.46647468873\n",
      "\n",
      "num = \n",
      "288\n",
      "SENSOR 3 2.02261768412 -0.484039818089\n",
      "\n",
      "num = \n",
      "289\n",
      "SENSOR 7 4.09245647518 -1.63859759267\n",
      "\n",
      "num = \n",
      "290\n",
      "ODOMETRY 0.000428845906387 0.10008081915 0.000352531758719\n",
      "\n",
      "num = \n",
      "291\n",
      "SENSOR 8 4.66591979904 -2.11042811091\n",
      "\n",
      "num = \n",
      "292\n",
      "SENSOR 1 4.5400120979 -2.94675157545\n",
      "\n",
      "num = \n",
      "293\n",
      "SENSOR 2 1.66151980155 2.4772319982\n",
      "\n",
      "num = \n",
      "294\n",
      "SENSOR 3 1.69406105599 -0.528339655367\n",
      "\n",
      "num = \n",
      "295\n",
      "SENSOR 7 3.93440624897 -1.69607534156\n",
      "\n",
      "num = \n",
      "296\n",
      "ODOMETRY 0.000241280703103 0.100190717382 0.00021908908565\n",
      "\n",
      "num = \n",
      "297\n",
      "SENSOR 8 4.65394245626 -2.10046665109\n",
      "\n",
      "num = \n",
      "298\n",
      "SENSOR 1 4.6922590945 -2.8776113437\n",
      "\n",
      "num = \n",
      "299\n",
      "SENSOR 2 1.84720641205 2.51332375216\n",
      "\n",
      "num = \n",
      "300\n",
      "SENSOR 3 1.7878592279 -0.6464169453\n",
      "\n",
      "num = \n",
      "301\n",
      "SENSOR 7 4.08108369627 -1.67639330679\n",
      "\n",
      "num = \n",
      "302\n",
      "ODOMETRY -0.00119608488614 0.0998300419662 -0.000785692437084\n",
      "\n",
      "num = \n",
      "303\n",
      "SENSOR 8 4.77404605226 -2.08170107067\n",
      "\n",
      "num = \n",
      "304\n",
      "SENSOR 1 4.33976416105 -2.90292850512\n",
      "\n",
      "num = \n",
      "305\n",
      "SENSOR 2 1.88969783614 2.58825155721\n",
      "\n",
      "num = \n",
      "306\n",
      "SENSOR 3 1.73764363829 -0.49745195748\n",
      "\n",
      "num = \n",
      "307\n",
      "SENSOR 7 3.96406958388 -1.66060095497\n",
      "\n",
      "num = \n",
      "308\n",
      "ODOMETRY -0.000283673180471 0.0998692948249 -6.45801742076e-05\n",
      "\n",
      "num = \n",
      "309\n",
      "SENSOR 8 4.72928958355 -2.11808295378\n",
      "\n",
      "num = \n",
      "310\n",
      "SENSOR 1 4.85446874563 -2.96828803681\n",
      "\n",
      "num = \n",
      "311\n",
      "SENSOR 2 1.94629939838 2.61814643875\n",
      "\n",
      "num = \n",
      "312\n",
      "SENSOR 3 1.60770645745 -0.563753684955\n",
      "\n",
      "num = \n",
      "313\n",
      "SENSOR 7 3.89182668135 -1.78660920606\n",
      "\n",
      "num = \n",
      "314\n",
      "ODOMETRY -0.000182066224786 0.0998742815469 -0.000565724685502\n",
      "\n",
      "num = \n",
      "315\n",
      "SENSOR 8 4.66229866868 -2.20515623143\n",
      "\n",
      "num = \n",
      "316\n",
      "SENSOR 1 4.80809797253 -3.00294348241\n",
      "\n",
      "num = \n",
      "317\n",
      "SENSOR 2 2.13430608854 2.71645106462\n",
      "\n",
      "num = \n",
      "318\n",
      "SENSOR 3 1.376952877 -0.663110570535\n",
      "\n",
      "num = \n",
      "319\n",
      "SENSOR 7 3.8811618647 -1.8038777696\n",
      "\n",
      "num = \n",
      "320\n",
      "ODOMETRY 0.000446460674214 0.0998339319617 0.000172792242606\n",
      "\n",
      "num = \n",
      "321\n",
      "SENSOR 8 5.02546804585 -2.19510092046\n",
      "\n",
      "num = \n",
      "322\n",
      "SENSOR 1 5.01349268035 -2.96140277102\n",
      "\n",
      "num = \n",
      "323\n",
      "SENSOR 2 2.16725029068 2.71920290634\n",
      "\n",
      "num = \n",
      "324\n",
      "SENSOR 3 1.6217305118 -0.701135122275\n",
      "\n",
      "num = \n",
      "325\n",
      "SENSOR 7 3.94079630166 -1.73582055105\n",
      "\n",
      "num = \n",
      "326\n",
      "ODOMETRY -0.000192785040713 0.099962525761 -0.000198322747385\n",
      "\n",
      "num = \n",
      "327\n",
      "SENSOR 8 4.94083414559 -2.11537295171\n",
      "\n",
      "num = \n",
      "328\n",
      "SENSOR 9 4.91446231227 -0.887651756022\n",
      "\n",
      "num = \n",
      "329\n",
      "SENSOR 2 2.16197834316 2.69904984308\n",
      "\n",
      "num = \n",
      "330\n",
      "SENSOR 3 1.525427237 -0.711047076592\n",
      "\n",
      "num = \n",
      "331\n",
      "SENSOR 7 4.01530297276 -1.90341160103\n",
      "\n",
      "num = \n",
      "332\n",
      "ODOMETRY -0.00041677675012 0.0998935259811 -0.000185627166787\n",
      "\n",
      "num = \n",
      "333\n",
      "SENSOR 8 4.9944171849 -2.22316600512\n",
      "\n",
      "num = \n",
      "334\n",
      "SENSOR 9 4.91770926354 -0.875068268808\n",
      "\n",
      "num = \n",
      "335\n",
      "SENSOR 2 2.37108525182 2.63893274328\n",
      "\n",
      "num = \n",
      "336\n",
      "SENSOR 3 1.22148996766 -0.779993952297\n",
      "\n",
      "num = \n",
      "337\n",
      "SENSOR 7 4.05942517061 -1.80602776182\n",
      "\n",
      "num = \n",
      "338\n",
      "ODOMETRY -0.000504187302557 0.099935062112 -0.000102208043102\n",
      "\n",
      "num = \n",
      "339\n",
      "SENSOR 9 5.05113586384 -0.939362710755\n",
      "\n",
      "num = \n",
      "340\n",
      "SENSOR 2 2.42075573102 2.65401889272\n",
      "\n",
      "num = \n",
      "341\n",
      "SENSOR 3 1.40673857311 -0.792218436955\n",
      "\n",
      "num = \n",
      "342\n",
      "SENSOR 7 4.01097220078 -1.86268980877\n",
      "\n",
      "num = \n",
      "343\n",
      "ODOMETRY 0.00010208423308 0.10009595201 0.000112598536447\n",
      "\n",
      "num = \n",
      "344\n",
      "SENSOR 9 4.80175052631 -0.901315690154\n",
      "\n",
      "num = \n",
      "345\n",
      "SENSOR 2 2.53903797695 2.78425180019\n",
      "\n",
      "num = \n",
      "346\n",
      "SENSOR 3 1.21005538358 -0.947107299591\n",
      "\n",
      "num = \n",
      "347\n",
      "SENSOR 7 4.21526740137 -1.77072934034\n",
      "\n",
      "num = \n",
      "348\n",
      "ODOMETRY -0.000470079132191 0.100071592578 0.000364741934559\n",
      "\n",
      "num = \n",
      "349\n",
      "SENSOR 9 4.8930608011 -0.931458155021\n",
      "\n",
      "num = \n",
      "350\n",
      "SENSOR 2 2.49064672217 2.70820827557\n",
      "\n",
      "num = \n",
      "351\n",
      "SENSOR 3 1.1298112679 -0.927638881263\n",
      "\n",
      "num = \n",
      "352\n",
      "SENSOR 7 4.10863769033 -1.85570810456\n",
      "\n",
      "num = \n",
      "353\n",
      "ODOMETRY 0.000293614872845 0.0999543517986 0.000235684154045\n",
      "\n",
      "num = \n",
      "354\n",
      "SENSOR 9 4.78120287936 -0.931491845794\n",
      "\n",
      "num = \n",
      "355\n",
      "SENSOR 2 2.65158902922 2.74003752891\n",
      "\n",
      "num = \n",
      "356\n",
      "SENSOR 3 1.13696167911 -1.02091756573\n",
      "\n",
      "num = \n",
      "357\n",
      "SENSOR 7 4.14832981289 -1.93565577604\n",
      "\n",
      "num = \n",
      "358\n",
      "ODOMETRY -8.40851246277e-05 0.0999403556225 -0.000176595962094\n",
      "\n",
      "num = \n",
      "359\n",
      "SENSOR 9 4.57621416752 -0.993635910976\n",
      "\n",
      "num = \n",
      "360\n",
      "SENSOR 2 2.92434868722 2.7082657163\n",
      "\n",
      "num = \n",
      "361\n",
      "SENSOR 3 0.871667628237 -1.08932996938\n",
      "\n",
      "num = \n",
      "362\n",
      "SENSOR 7 4.2336588264 -1.9442154823\n",
      "\n",
      "num = \n",
      "363\n",
      "ODOMETRY -0.00962491243249 0.100226987653 -0.0205912870107\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "364\n",
      "SENSOR 9 4.44837110071 -0.989307488326\n",
      "\n",
      "num = \n",
      "365\n",
      "SENSOR 2 2.8892743732 2.84845502425\n",
      "\n",
      "num = \n",
      "366\n",
      "SENSOR 3 0.891192383698 -1.23984271\n",
      "\n",
      "num = \n",
      "367\n",
      "SENSOR 7 4.24686986677 -1.92323203717\n",
      "\n",
      "num = \n",
      "368\n",
      "ODOMETRY -0.0102033452948 0.0998839630755 -0.0215571904424\n",
      "\n",
      "num = \n",
      "369\n",
      "SENSOR 9 4.51127976731 -0.965675234448\n",
      "\n",
      "num = \n",
      "370\n",
      "SENSOR 2 2.99371450745 2.84262811823\n",
      "\n",
      "num = \n",
      "371\n",
      "SENSOR 3 0.799137718613 -1.19111999767\n",
      "\n",
      "num = \n",
      "372\n",
      "SENSOR 7 4.34718168559 -1.87200596541\n",
      "\n",
      "num = \n",
      "373\n",
      "ODOMETRY -0.00860842707999 0.0998102570683 -0.0193391675193\n",
      "\n",
      "num = \n",
      "374\n",
      "SENSOR 9 4.45640142154 -0.978412228293\n",
      "\n",
      "num = \n",
      "375\n",
      "SENSOR 2 3.26617603062 2.8384001977\n",
      "\n",
      "num = \n",
      "376\n",
      "SENSOR 3 0.816222604143 -1.30597066763\n",
      "\n",
      "num = \n",
      "377\n",
      "SENSOR 7 4.2980455787 -1.89648658794\n",
      "\n",
      "num = \n",
      "378\n",
      "ODOMETRY -0.00956022288558 0.100150972292 -0.0200463224548\n",
      "\n",
      "num = \n",
      "379\n",
      "SENSOR 9 4.37573768277 -0.917844889679\n",
      "\n",
      "num = \n",
      "380\n",
      "SENSOR 2 3.317865598 2.95007305006\n",
      "\n",
      "num = \n",
      "381\n",
      "SENSOR 3 0.817247142217 -1.37869382939\n",
      "\n",
      "num = \n",
      "382\n",
      "SENSOR 7 4.09119325406 -1.94192716645\n",
      "\n",
      "num = \n",
      "383\n",
      "ODOMETRY -0.0103002834124 0.100007766723 -0.0197368000329\n",
      "\n",
      "num = \n",
      "384\n",
      "SENSOR 9 4.21811509958 -0.851878267922\n",
      "\n",
      "num = \n",
      "385\n",
      "SENSOR 2 3.18846120949 2.97202181201\n",
      "\n",
      "num = \n",
      "386\n",
      "SENSOR 3 1.13340957174 -1.46851281333\n",
      "\n",
      "num = \n",
      "387\n",
      "SENSOR 7 4.38585468217 -1.82603901749\n",
      "\n",
      "num = \n",
      "388\n",
      "ODOMETRY -0.0102831048513 0.10010953823 -0.0202530209795\n",
      "\n",
      "num = \n",
      "389\n",
      "SENSOR 9 4.26699097617 -0.944178359109\n",
      "\n",
      "num = \n",
      "390\n",
      "SENSOR 2 3.38023967491 3.01452503314\n",
      "\n",
      "num = \n",
      "391\n",
      "SENSOR 3 0.720668136763 -1.55711368901\n",
      "\n",
      "num = \n",
      "392\n",
      "SENSOR 7 4.33394842239 -1.91875382264\n",
      "\n",
      "num = \n",
      "393\n",
      "ODOMETRY -0.0105866501206 0.0999017879145 -0.0197382893367\n",
      "\n",
      "num = \n",
      "394\n",
      "SENSOR 9 4.22270883023 -0.860892437552\n",
      "\n",
      "num = \n",
      "395\n",
      "SENSOR 2 3.36042267996 3.01995506444\n",
      "\n",
      "num = \n",
      "396\n",
      "SENSOR 3 0.717148685032 -1.66529431909\n",
      "\n",
      "num = \n",
      "397\n",
      "SENSOR 7 4.43948581701 -1.84649833616\n",
      "\n",
      "num = \n",
      "398\n",
      "ODOMETRY -0.0113245534652 0.100123041114 -0.0190696769167\n",
      "\n",
      "num = \n",
      "399\n",
      "SENSOR 9 4.16843098657 -0.834433300637\n",
      "\n",
      "num = \n",
      "400\n",
      "SENSOR 2 3.51256815216 2.97921133252\n",
      "\n",
      "num = \n",
      "401\n",
      "SENSOR 3 0.834830514938 -1.73903910734\n",
      "\n",
      "num = \n",
      "402\n",
      "SENSOR 7 4.28359501376 -1.86953074931\n",
      "\n",
      "num = \n",
      "403\n",
      "ODOMETRY -0.00971082754926 0.100025950554 -0.0198211377492\n",
      "\n",
      "num = \n",
      "404\n",
      "SENSOR 9 4.02856295399 -0.968273518321\n",
      "\n",
      "num = \n",
      "405\n",
      "SENSOR 2 3.63658640677 3.12915861055\n",
      "\n",
      "num = \n",
      "406\n",
      "SENSOR 3 0.734021188267 -1.75470305372\n",
      "\n",
      "num = \n",
      "407\n",
      "SENSOR 7 4.54650380966 -1.76609368488\n",
      "\n",
      "num = \n",
      "408\n",
      "ODOMETRY -0.010589475487 0.10010496938 -0.0199922914546\n",
      "\n",
      "num = \n",
      "409\n",
      "SENSOR 9 3.91015885795 -0.869086963006\n",
      "\n",
      "num = \n",
      "410\n",
      "SENSOR 2 3.87255632648 3.16604194771\n",
      "\n",
      "num = \n",
      "411\n",
      "SENSOR 3 0.865196059921 -1.86949836389\n",
      "\n",
      "num = \n",
      "412\n",
      "SENSOR 7 4.51133867781 -1.81430214087\n",
      "\n",
      "num = \n",
      "413\n",
      "ODOMETRY -0.00946128189441 0.0997349532468 -0.0199718063448\n",
      "\n",
      "num = \n",
      "414\n",
      "SENSOR 9 3.82613593432 -0.874876680077\n",
      "\n",
      "num = \n",
      "415\n",
      "SENSOR 2 3.83879660579 -3.13229830775\n",
      "\n",
      "num = \n",
      "416\n",
      "SENSOR 3 1.06514315073 -1.87293500873\n",
      "\n",
      "num = \n",
      "417\n",
      "SENSOR 7 4.56299343999 -1.75934253741\n",
      "\n",
      "num = \n",
      "418\n",
      "ODOMETRY -0.00979951516687 0.0997189457445 -0.0206080614093\n",
      "\n",
      "num = \n",
      "419\n",
      "SENSOR 9 4.12881342913 -0.867651605124\n",
      "\n",
      "num = \n",
      "420\n",
      "SENSOR 2 4.0288094419 -3.2276561161\n",
      "\n",
      "num = \n",
      "421\n",
      "SENSOR 3 0.901200006923 -2.03251122022\n",
      "\n",
      "num = \n",
      "422\n",
      "SENSOR 7 4.62001856502 -1.8309460386\n",
      "\n",
      "num = \n",
      "423\n",
      "ODOMETRY -0.00943323576827 0.100124414548 -0.0203296697597\n",
      "\n",
      "num = \n",
      "424\n",
      "SENSOR 9 3.70232136893 -0.94416511906\n",
      "\n",
      "num = \n",
      "425\n",
      "SENSOR 2 3.98368634906 -3.07682994555\n",
      "\n",
      "num = \n",
      "426\n",
      "SENSOR 3 0.899772694406 -2.09221030348\n",
      "\n",
      "num = \n",
      "427\n",
      "SENSOR 7 4.46139118814 -1.86311006595\n",
      "\n",
      "num = \n",
      "428\n",
      "ODOMETRY -0.0100890424076 0.0999779958111 -0.0198161117798\n",
      "\n",
      "num = \n",
      "429\n",
      "SENSOR 9 3.7518939771 -0.918292146011\n",
      "\n",
      "num = \n",
      "430\n",
      "SENSOR 2 4.21633761598 -3.02832665334\n",
      "\n",
      "num = \n",
      "431\n",
      "SENSOR 3 1.18763314519 -2.0979866523\n",
      "\n",
      "num = \n",
      "432\n",
      "SENSOR 7 4.57848442895 -1.89875432575\n",
      "\n",
      "num = \n",
      "433\n",
      "ODOMETRY -0.00985362326451 0.100067538531 -0.0193174898999\n",
      "\n",
      "num = \n",
      "434\n",
      "SENSOR 9 3.59551880688 -0.808067235008\n",
      "\n",
      "num = \n",
      "435\n",
      "SENSOR 2 4.17678928397 -2.9234396319\n",
      "\n",
      "num = \n",
      "436\n",
      "SENSOR 3 1.07794432908 -2.21510076284\n",
      "\n",
      "num = \n",
      "437\n",
      "SENSOR 7 4.51763234841 -1.82762500095\n",
      "\n",
      "num = \n",
      "438\n",
      "ODOMETRY -0.0106424165584 0.0998962699375 -0.0193739099135\n",
      "\n",
      "num = \n",
      "439\n",
      "SENSOR 9 3.54948085637 -0.797013500387\n",
      "\n",
      "num = \n",
      "440\n",
      "SENSOR 2 4.28131949654 -2.97537943488\n",
      "\n",
      "num = \n",
      "441\n",
      "SENSOR 3 1.24246440412 -2.3096004705\n",
      "\n",
      "num = \n",
      "442\n",
      "SENSOR 7 4.5411888941 -1.80078211601\n",
      "\n",
      "num = \n",
      "443\n",
      "ODOMETRY -0.0104250459457 0.100075632863 -0.0188431839508\n",
      "\n",
      "num = \n",
      "444\n",
      "SENSOR 9 3.48168308597 -0.705073049043\n",
      "\n",
      "num = \n",
      "445\n",
      "SENSOR 2 4.51016536991 -2.85015444599\n",
      "\n",
      "num = \n",
      "446\n",
      "SENSOR 3 1.17397867689 -2.26384820849\n",
      "\n",
      "num = \n",
      "447\n",
      "SENSOR 7 4.58368921745 -1.81442387473\n",
      "\n",
      "num = \n",
      "448\n",
      "ODOMETRY -0.0101771473921 0.100011050735 -0.0196083731561\n",
      "\n",
      "num = \n",
      "449\n",
      "SENSOR 9 3.53348326087 -0.784447831034\n",
      "\n",
      "num = \n",
      "450\n",
      "SENSOR 2 4.52117731575 -2.89659106551\n",
      "\n",
      "num = \n",
      "451\n",
      "SENSOR 3 1.39890586374 -2.14286560722\n",
      "\n",
      "num = \n",
      "452\n",
      "SENSOR 7 4.76172397197 -1.82219242799\n",
      "\n",
      "num = \n",
      "453\n",
      "ODOMETRY -0.0101785548489 0.100004838788 -0.0202689362584\n",
      "\n",
      "num = \n",
      "454\n",
      "SENSOR 9 3.44733618805 -0.725368623109\n",
      "\n",
      "num = \n",
      "455\n",
      "SENSOR 2 4.69146013992 -2.87115134275\n",
      "\n",
      "num = \n",
      "456\n",
      "SENSOR 3 1.50765435383 -2.22245197353\n",
      "\n",
      "num = \n",
      "457\n",
      "SENSOR 7 4.48642435312 -1.84876318884\n",
      "\n",
      "num = \n",
      "458\n",
      "ODOMETRY -0.0091227397028 0.0999924972858 -0.0181685651638\n",
      "\n",
      "num = \n",
      "459\n",
      "SENSOR 9 3.22534891044 -0.724699872244\n",
      "\n",
      "num = \n",
      "460\n",
      "SENSOR 2 4.82403976411 -2.9345124872\n",
      "\n",
      "num = \n",
      "461\n",
      "SENSOR 3 1.40944143312 -2.41378091735\n",
      "\n",
      "num = \n",
      "462\n",
      "SENSOR 7 4.61353587116 -1.78898785581\n",
      "\n",
      "num = \n",
      "463\n",
      "ODOMETRY -0.00990767375964 0.0999963798923 -0.0204463659192\n",
      "\n",
      "num = \n",
      "464\n",
      "SENSOR 9 3.2978264557 -0.848937354757\n",
      "\n",
      "num = \n",
      "465\n",
      "SENSOR 2 4.79210487087 -2.88027569823\n",
      "\n",
      "num = \n",
      "466\n",
      "SENSOR 3 1.57460267827 -2.35009049783\n",
      "\n",
      "num = \n",
      "467\n",
      "SENSOR 7 4.86239210585 -1.68728512464\n",
      "\n",
      "num = \n",
      "468\n",
      "ODOMETRY -0.0105209157752 0.100056520755 -0.0199923529952\n",
      "\n",
      "num = \n",
      "469\n",
      "SENSOR 9 3.11237333983 -0.828608726065\n",
      "\n",
      "num = \n",
      "470\n",
      "SENSOR 2 5.1348537585 -2.83576534622\n",
      "\n",
      "num = \n",
      "471\n",
      "SENSOR 3 1.7099726366 -2.2858612058\n",
      "\n",
      "num = \n",
      "472\n",
      "SENSOR 7 4.90049538427 -1.78150085169\n",
      "\n",
      "num = \n",
      "473\n",
      "ODOMETRY -0.010155344285 0.100089786643 -0.0198085659559\n",
      "\n",
      "num = \n",
      "474\n",
      "SENSOR 9 2.99996691085 -0.765112595878\n",
      "\n",
      "num = \n",
      "475\n",
      "SENSOR 3 1.6542766528 -2.40104297088\n",
      "\n",
      "num = \n",
      "476\n",
      "SENSOR 7 4.68837972288 -1.72827448368\n",
      "\n",
      "num = \n",
      "477\n",
      "ODOMETRY -0.00967291193757 0.100124175068 -0.0205587676625\n",
      "\n",
      "num = \n",
      "478\n",
      "SENSOR 9 2.99807347078 -0.696237174014\n",
      "\n",
      "num = \n",
      "479\n",
      "SENSOR 3 1.7267487227 -2.3662440395\n",
      "\n",
      "num = \n",
      "480\n",
      "SENSOR 7 4.7350984348 -1.75139975295\n",
      "\n",
      "num = \n",
      "481\n",
      "ODOMETRY -0.0101662059319 0.100228934457 -0.0199252685348\n",
      "\n",
      "num = \n",
      "482\n",
      "SENSOR 9 3.15312197773 -0.769591095276\n",
      "\n",
      "num = \n",
      "483\n",
      "SENSOR 3 1.73627144755 -2.31623144182\n",
      "\n",
      "num = \n",
      "484\n",
      "SENSOR 7 5.06411728014 -1.71705818396\n",
      "\n",
      "num = \n",
      "485\n",
      "ODOMETRY -0.0107211355799 0.0999927335192 -0.020501983192\n",
      "\n",
      "num = \n",
      "486\n",
      "SENSOR 9 2.86278392437 -0.743762595525\n",
      "\n",
      "num = \n",
      "487\n",
      "SENSOR 3 1.84695799822 -2.43783547802\n",
      "\n",
      "num = \n",
      "488\n",
      "SENSOR 7 5.07231532054 -1.68808003478\n",
      "\n",
      "num = \n",
      "489\n",
      "ODOMETRY -0.00979459746259 0.100025076699 -0.0197251786846\n",
      "\n",
      "num = \n",
      "490\n",
      "SENSOR 9 2.82075829413 -0.688148179119\n",
      "\n",
      "num = \n",
      "491\n",
      "SENSOR 3 2.02116189813 -2.39856289262\n",
      "\n",
      "num = \n",
      "492\n",
      "SENSOR 7 4.91405340171 -1.71247547809\n",
      "\n",
      "num = \n",
      "493\n",
      "ODOMETRY -0.00880991332931 0.0997863392491 -0.0197458769482\n",
      "\n",
      "num = \n",
      "494\n",
      "SENSOR 9 2.83728718149 -0.703540952524\n",
      "\n",
      "num = \n",
      "495\n",
      "SENSOR 3 1.93000650123 -2.36970627286\n",
      "\n",
      "num = \n",
      "496\n",
      "SENSOR 7 4.79347993043 -1.6329273271\n",
      "\n",
      "num = \n",
      "497\n",
      "ODOMETRY -0.0100580444163 0.10021748682 -0.0200095441708\n",
      "\n",
      "num = \n",
      "498\n",
      "SENSOR 9 2.51641560778 -0.756300137634\n",
      "\n",
      "num = \n",
      "499\n",
      "SENSOR 3 2.09607292645 -2.38526777678\n",
      "\n",
      "num = \n",
      "500\n",
      "SENSOR 7 5.06835478059 -1.72475485601\n",
      "\n",
      "num = \n",
      "501\n",
      "ODOMETRY -0.0104281508158 0.10000140247 -0.0199377152457\n",
      "\n",
      "num = \n",
      "502\n",
      "SENSOR 9 2.45948289837 -0.76021264418\n",
      "\n",
      "num = \n",
      "503\n",
      "SENSOR 3 2.06522117309 -2.33318420312\n",
      "\n",
      "num = \n",
      "504\n",
      "SENSOR 7 4.84613918824 -1.61007685337\n",
      "\n",
      "num = \n",
      "505\n",
      "ODOMETRY -0.0097623943034 0.0999813928244 -0.0206369980195\n",
      "\n",
      "num = \n",
      "506\n",
      "SENSOR 9 2.57479230149 -0.632819077978\n",
      "\n",
      "num = \n",
      "507\n",
      "SENSOR 3 2.177346285 -2.42626146831\n",
      "\n",
      "num = \n",
      "508\n",
      "SENSOR 7 5.05551333216 -1.69863156486\n",
      "\n",
      "num = \n",
      "509\n",
      "ODOMETRY -0.00975220094369 0.100042185698 -0.0200047749536\n",
      "\n",
      "num = \n",
      "510\n",
      "SENSOR 9 2.5074325001 -0.609410447289\n",
      "\n",
      "num = \n",
      "511\n",
      "SENSOR 3 2.3010604256 -2.35179262067\n",
      "\n",
      "num = \n",
      "512\n",
      "SENSOR 7 4.90749675187 -1.70419293696\n",
      "\n",
      "num = \n",
      "513\n",
      "ODOMETRY -0.00927676045743 0.100208064048 -0.0191796860605\n",
      "\n",
      "num = \n",
      "514\n",
      "SENSOR 9 2.41626913018 -0.724594121384\n",
      "\n",
      "num = \n",
      "515\n",
      "SENSOR 3 2.52272282794 -2.4239408799\n",
      "\n",
      "num = \n",
      "516\n",
      "SENSOR 7 4.70640264651 -1.63618162589\n",
      "\n",
      "num = \n",
      "517\n",
      "ODOMETRY -0.0099067860188 0.0998711486494 -0.0194012350076\n",
      "\n",
      "num = \n",
      "518\n",
      "SENSOR 9 2.24529394017 -0.685502521964\n",
      "\n",
      "num = \n",
      "519\n",
      "SENSOR 3 2.31844097149 -2.42828855555\n",
      "\n",
      "num = \n",
      "520\n",
      "SENSOR 7 4.95528000197 -1.57288604154\n",
      "\n",
      "num = \n",
      "521\n",
      "ODOMETRY -0.00983384980744 0.0999224766995 -0.0204305528243\n",
      "\n",
      "num = \n",
      "522\n",
      "SENSOR 9 2.18268166452 -0.647873105786\n",
      "\n",
      "num = \n",
      "523\n",
      "SENSOR 3 2.60693896315 -2.37482011041\n",
      "\n",
      "num = \n",
      "524\n",
      "SENSOR 7 4.87407767625 -1.66971167459\n",
      "\n",
      "num = \n",
      "525\n",
      "ODOMETRY -0.0102628286794 0.0997605730161 -0.0210500632473\n",
      "\n",
      "num = \n",
      "526\n",
      "SENSOR 9 2.15683089899 -0.642555173461\n",
      "\n",
      "num = \n",
      "527\n",
      "SENSOR 3 2.6756869293 -2.29039615081\n",
      "\n",
      "num = \n",
      "528\n",
      "SENSOR 7 5.11674482285 -1.47951929626\n",
      "\n",
      "num = \n",
      "529\n",
      "ODOMETRY -0.0101962211399 0.099836539792 -0.0188237479265\n",
      "\n",
      "num = \n",
      "530\n",
      "SENSOR 9 1.9915555629 -0.605343778173\n",
      "\n",
      "num = \n",
      "531\n",
      "SENSOR 3 2.8321255953 -2.36581198314\n",
      "\n",
      "num = \n",
      "532\n",
      "SENSOR 7 4.93146123799 -1.5890166699\n",
      "\n",
      "num = \n",
      "533\n",
      "ODOMETRY -0.0109072611821 0.100057984487 -0.0199246493126\n",
      "\n",
      "num = \n",
      "534\n",
      "SENSOR 9 2.05060986776 -0.812359999266\n",
      "\n",
      "num = \n",
      "535\n",
      "SENSOR 3 2.89469192638 -2.33538439474\n",
      "\n",
      "num = \n",
      "536\n",
      "SENSOR 7 5.06379731865 -1.57967642574\n",
      "\n",
      "num = \n",
      "537\n",
      "ODOMETRY -0.0110088218391 0.10014697699 -0.0202732496012\n",
      "\n",
      "num = \n",
      "538\n",
      "SENSOR 9 1.9855033654 -0.729611380785\n",
      "\n",
      "num = \n",
      "539\n",
      "SENSOR 3 2.808098691 -2.40456966848\n",
      "\n",
      "num = \n",
      "540\n",
      "SENSOR 7 5.00506879142 -1.52174912725\n",
      "\n",
      "num = \n",
      "541\n",
      "ODOMETRY -0.0097077990525 0.100157141283 -0.0214692363299\n",
      "\n",
      "num = \n",
      "542\n",
      "SENSOR 9 1.85666944851 -0.732607970484\n",
      "\n",
      "num = \n",
      "543\n",
      "SENSOR 3 3.15325419611 -2.35565991968\n",
      "\n",
      "num = \n",
      "544\n",
      "SENSOR 7 4.77716786006 -1.61242538926\n",
      "\n",
      "num = \n",
      "545\n",
      "ODOMETRY -0.00981948245873 0.0999149565253 -0.020711936978\n",
      "\n",
      "num = \n",
      "546\n",
      "SENSOR 9 1.66695280875 -0.677940267447\n",
      "\n",
      "num = \n",
      "547\n",
      "SENSOR 3 2.93583551959 -2.29721883235\n",
      "\n",
      "num = \n",
      "548\n",
      "SENSOR 7 4.77792363509 -1.55059855566\n",
      "\n",
      "num = \n",
      "549\n",
      "ODOMETRY -0.00992896039159 0.0998189682803 -0.0204511862369\n",
      "\n",
      "num = \n",
      "550\n",
      "SENSOR 9 1.71819656468 -0.707245929411\n",
      "\n",
      "num = \n",
      "551\n",
      "SENSOR 3 3.02406315637 -2.3968858507\n",
      "\n",
      "num = \n",
      "552\n",
      "SENSOR 7 4.90173372979 -1.65060778383\n",
      "\n",
      "num = \n",
      "553\n",
      "ODOMETRY -0.00884110158486 0.100015505449 -0.0206146468981\n",
      "\n",
      "num = \n",
      "554\n",
      "SENSOR 9 1.70981171667 -0.684234093975\n",
      "\n",
      "num = \n",
      "555\n",
      "SENSOR 3 3.16299858885 -2.37554434755\n",
      "\n",
      "num = \n",
      "556\n",
      "SENSOR 7 5.05446186142 -1.55954853363\n",
      "\n",
      "num = \n",
      "557\n",
      "ODOMETRY -0.0102024861503 0.10032005589 -0.0183984058531\n",
      "\n",
      "num = \n",
      "558\n",
      "SENSOR 9 1.48285099536 -0.732863940447\n",
      "\n",
      "num = \n",
      "559\n",
      "SENSOR 3 3.24066838872 -2.3472192049\n",
      "\n",
      "num = \n",
      "560\n",
      "SENSOR 7 5.02189688945 -1.52629273662\n",
      "\n",
      "num = \n",
      "561\n",
      "ODOMETRY -0.0095354970248 0.100025384548 -0.0207858100942\n",
      "\n",
      "num = \n",
      "562\n",
      "SENSOR 9 1.46150131465 -0.767666096771\n",
      "\n",
      "num = \n",
      "563\n",
      "SENSOR 3 3.22029667183 -2.36535752613\n",
      "\n",
      "num = \n",
      "564\n",
      "SENSOR 7 4.84479242128 -1.46298563412\n",
      "\n",
      "num = \n",
      "565\n",
      "ODOMETRY -0.00906969760687 0.099796851015 -0.0208710090182\n",
      "\n",
      "num = \n",
      "566\n",
      "SENSOR 9 1.53472735309 -0.701353506585\n",
      "\n",
      "num = \n",
      "567\n",
      "SENSOR 3 3.30563763836 -2.28920291979\n",
      "\n",
      "num = \n",
      "568\n",
      "SENSOR 7 5.08447465054 -1.48707316086\n",
      "\n",
      "num = \n",
      "569\n",
      "ODOMETRY -0.00996926665775 0.100146565387 -0.018774822561\n",
      "\n",
      "num = \n",
      "570\n",
      "SENSOR 9 1.27538476788 -0.825565964241\n",
      "\n",
      "num = \n",
      "571\n",
      "SENSOR 3 3.52081304084 -2.35140411346\n",
      "\n",
      "num = \n",
      "572\n",
      "SENSOR 7 4.9713536015 -1.50506099629\n",
      "\n",
      "num = \n",
      "573\n",
      "ODOMETRY -0.00982937584718 0.100296415285 -0.0202122708831\n",
      "\n",
      "num = \n",
      "574\n",
      "SENSOR 9 1.28245800998 -0.820894690375\n",
      "\n",
      "num = \n",
      "575\n",
      "SENSOR 3 3.61786607428 -2.28348332028\n",
      "\n",
      "num = \n",
      "576\n",
      "SENSOR 7 4.72683380487 -1.5245034595\n",
      "\n",
      "num = \n",
      "577\n",
      "ODOMETRY -0.00967296493409 0.100095993623 -0.0208377359394\n",
      "\n",
      "num = \n",
      "578\n",
      "SENSOR 9 1.22717122688 -0.834555116798\n",
      "\n",
      "num = \n",
      "579\n",
      "SENSOR 3 3.46599411335 -2.26643278842\n",
      "\n",
      "num = \n",
      "580\n",
      "SENSOR 7 4.77048897684 -1.61915796579\n",
      "\n",
      "num = \n",
      "581\n",
      "ODOMETRY -0.00983012240915 0.100048682167 -0.0200418409326\n",
      "\n",
      "num = \n",
      "582\n",
      "SENSOR 9 1.21052101312 -0.846681880547\n",
      "\n",
      "num = \n",
      "583\n",
      "SENSOR 3 3.70451197871 -2.25861912203\n",
      "\n",
      "num = \n",
      "584\n",
      "SENSOR 7 5.07806532139 -1.49123903126\n",
      "\n",
      "num = \n",
      "585\n",
      "ODOMETRY -0.00930456459578 0.100071988622 -0.0204347040085\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "586\n",
      "SENSOR 9 1.12120365478 -0.935390860361\n",
      "\n",
      "num = \n",
      "587\n",
      "SENSOR 3 3.58620574347 -2.27331836708\n",
      "\n",
      "num = \n",
      "588\n",
      "SENSOR 7 4.76861242282 -1.53629792407\n",
      "\n",
      "num = \n",
      "589\n",
      "ODOMETRY 0.000468699390922 0.0998304456128 -2.5849995276e-05\n",
      "\n",
      "num = \n",
      "590\n",
      "SENSOR 9 1.14054428171 -0.998313577557\n",
      "\n",
      "num = \n",
      "591\n",
      "SENSOR 3 3.55052396622 -2.27149420334\n",
      "\n",
      "num = \n",
      "592\n",
      "SENSOR 6 4.97342840955 -0.481153301138\n",
      "\n",
      "num = \n",
      "593\n",
      "SENSOR 7 4.93140206369 -1.5097071492\n",
      "\n",
      "num = \n",
      "594\n",
      "ODOMETRY -0.000306172617703 0.0998659733612 0.00088045160042\n",
      "\n",
      "num = \n",
      "595\n",
      "SENSOR 9 0.908943386111 -1.05078434189\n",
      "\n",
      "num = \n",
      "596\n",
      "SENSOR 3 3.92854556221 -2.37317280336\n",
      "\n",
      "num = \n",
      "597\n",
      "SENSOR 6 4.65017824828 -0.48503026696\n",
      "\n",
      "num = \n",
      "598\n",
      "SENSOR 7 4.82256937785 -1.46085672931\n",
      "\n",
      "num = \n",
      "599\n",
      "ODOMETRY 6.35865396476e-05 0.100145996251 0.000825376841077\n",
      "\n",
      "num = \n",
      "600\n",
      "SENSOR 9 0.827243169323 -1.09325181967\n",
      "\n",
      "num = \n",
      "601\n",
      "SENSOR 3 3.73413074447 -2.37141305415\n",
      "\n",
      "num = \n",
      "602\n",
      "SENSOR 6 4.78905396728 -0.408920738147\n",
      "\n",
      "num = \n",
      "603\n",
      "SENSOR 7 4.99209306977 -1.55682191086\n",
      "\n",
      "num = \n",
      "604\n",
      "ODOMETRY 0.000201838205791 0.100136187552 -0.00014387330981\n",
      "\n",
      "num = \n",
      "605\n",
      "SENSOR 9 0.854965120184 -1.30243719417\n",
      "\n",
      "num = \n",
      "606\n",
      "SENSOR 3 4.08986785793 -2.31375803278\n",
      "\n",
      "num = \n",
      "607\n",
      "SENSOR 6 4.49746631975 -0.415197960969\n",
      "\n",
      "num = \n",
      "608\n",
      "SENSOR 7 4.91878504334 -1.53841931157\n",
      "\n",
      "num = \n",
      "609\n",
      "ODOMETRY 0.000309566514052 0.099997143531 0.000424327411615\n",
      "\n",
      "num = \n",
      "610\n",
      "SENSOR 9 0.829574081247 -1.34777510094\n",
      "\n",
      "num = \n",
      "611\n",
      "SENSOR 3 3.99649915462 -2.37661430213\n",
      "\n",
      "num = \n",
      "612\n",
      "SENSOR 6 4.86215564276 -0.354259931521\n",
      "\n",
      "num = \n",
      "613\n",
      "SENSOR 7 5.17293988297 -1.61785902826\n",
      "\n",
      "num = \n",
      "614\n",
      "ODOMETRY -0.000499775865667 0.0998879891969 -0.000202950445095\n",
      "\n",
      "num = \n",
      "615\n",
      "SENSOR 9 0.926234276526 -1.50863813963\n",
      "\n",
      "num = \n",
      "616\n",
      "SENSOR 3 4.06561199195 -2.33294732347\n",
      "\n",
      "num = \n",
      "617\n",
      "SENSOR 6 4.52518969077 -0.459458859882\n",
      "\n",
      "num = \n",
      "618\n",
      "SENSOR 7 4.90713478296 -1.6534950895\n",
      "\n",
      "num = \n",
      "619\n",
      "ODOMETRY 0.000159821856273 0.0999413115697 0.000165823443296\n",
      "\n",
      "num = \n",
      "620\n",
      "SENSOR 9 0.798977474978 -1.61450594503\n",
      "\n",
      "num = \n",
      "621\n",
      "SENSOR 3 4.24005259522 -2.48339290405\n",
      "\n",
      "num = \n",
      "622\n",
      "SENSOR 6 4.37753199658 -0.439993648344\n",
      "\n",
      "num = \n",
      "623\n",
      "SENSOR 7 4.78729857286 -1.52285334952\n",
      "\n",
      "num = \n",
      "624\n",
      "ODOMETRY 0.000239336090803 0.100024339541 -0.000702745140684\n",
      "\n",
      "num = \n",
      "625\n",
      "SENSOR 9 0.85153318303 -1.74081822727\n",
      "\n",
      "num = \n",
      "626\n",
      "SENSOR 3 4.19445086514 -2.41078939754\n",
      "\n",
      "num = \n",
      "627\n",
      "SENSOR 6 4.3332692815 -0.5738717181\n",
      "\n",
      "num = \n",
      "628\n",
      "SENSOR 7 4.82886107215 -1.58958533264\n",
      "\n",
      "num = \n",
      "629\n",
      "ODOMETRY 0.000302502313308 0.0999098702903 -0.000677343238\n",
      "\n",
      "num = \n",
      "630\n",
      "SENSOR 9 1.00720101453 -1.80629458243\n",
      "\n",
      "num = \n",
      "631\n",
      "SENSOR 3 4.35581118198 -2.52872962107\n",
      "\n",
      "num = \n",
      "632\n",
      "SENSOR 6 4.26273136747 -0.561343932255\n",
      "\n",
      "num = \n",
      "633\n",
      "SENSOR 7 4.90576859962 -1.57561915161\n",
      "\n",
      "num = \n",
      "634\n",
      "ODOMETRY -0.000113543700968 0.0999631337801 5.71158197463e-05\n",
      "\n",
      "num = \n",
      "635\n",
      "SENSOR 9 0.926859129886 -2.02052805263\n",
      "\n",
      "num = \n",
      "636\n",
      "SENSOR 3 4.5099200538 -2.5031268995\n",
      "\n",
      "num = \n",
      "637\n",
      "SENSOR 6 4.1118649023 -0.581633953961\n",
      "\n",
      "num = \n",
      "638\n",
      "SENSOR 7 4.76898001883 -1.59231791735\n",
      "\n",
      "num = \n",
      "639\n",
      "ODOMETRY -0.000339024488948 0.100009711461 2.26344713328e-05\n",
      "\n",
      "num = \n",
      "640\n",
      "SENSOR 9 1.01426369829 -2.06024600625\n",
      "\n",
      "num = \n",
      "641\n",
      "SENSOR 3 4.50108503541 -2.50066382553\n",
      "\n",
      "num = \n",
      "642\n",
      "SENSOR 6 4.10077035421 -0.552157899173\n",
      "\n",
      "num = \n",
      "643\n",
      "SENSOR 7 4.90578246686 -1.60737195764\n",
      "\n",
      "num = \n",
      "644\n",
      "ODOMETRY -0.000504457264396 0.100013657645 -0.000177576169986\n",
      "\n",
      "num = \n",
      "645\n",
      "SENSOR 9 0.887211360034 -2.18963300619\n",
      "\n",
      "num = \n",
      "646\n",
      "SENSOR 3 4.5749440351 -2.48258346425\n",
      "\n",
      "num = \n",
      "647\n",
      "SENSOR 6 3.90635999301 -0.524342529557\n",
      "\n",
      "num = \n",
      "648\n",
      "SENSOR 7 4.99010419492 -1.6897455089\n",
      "\n",
      "num = \n",
      "649\n",
      "ODOMETRY 0.000243302162545 0.100124792442 0.000564451310213\n",
      "\n",
      "num = \n",
      "650\n",
      "SENSOR 9 0.950336814138 -2.20135217535\n",
      "\n",
      "num = \n",
      "651\n",
      "SENSOR 3 4.64575251122 -2.45474381848\n",
      "\n",
      "num = \n",
      "652\n",
      "SENSOR 6 3.94194574093 -0.493874197364\n",
      "\n",
      "num = \n",
      "653\n",
      "SENSOR 7 5.01810231369 -1.75192836429\n",
      "\n",
      "num = \n",
      "654\n",
      "ODOMETRY -0.000738312989045 0.100017614324 0.000452576665471\n",
      "\n",
      "num = \n",
      "655\n",
      "SENSOR 9 1.24742332493 -2.3761257833\n",
      "\n",
      "num = \n",
      "656\n",
      "SENSOR 3 4.78533958114 -2.48110189333\n",
      "\n",
      "num = \n",
      "657\n",
      "SENSOR 6 3.83981394901 -0.473736803464\n",
      "\n",
      "num = \n",
      "658\n",
      "SENSOR 7 4.94028734088 -1.67119507241\n",
      "\n",
      "num = \n",
      "659\n",
      "ODOMETRY -0.000158281123923 0.100057519587 8.25146303648e-05\n",
      "\n",
      "num = \n",
      "660\n",
      "SENSOR 9 1.25516136996 -2.38310746911\n",
      "\n",
      "num = \n",
      "661\n",
      "SENSOR 3 4.67629555186 -2.57984253808\n",
      "\n",
      "num = \n",
      "662\n",
      "SENSOR 6 3.58479173705 -0.552269803889\n",
      "\n",
      "num = \n",
      "663\n",
      "SENSOR 7 5.04082293108 -1.86475241589\n",
      "\n",
      "num = \n",
      "664\n",
      "ODOMETRY -0.000421693045302 0.100088421092 -0.000583909844015\n",
      "\n",
      "num = \n",
      "665\n",
      "SENSOR 9 1.30043780911 -2.42814444723\n",
      "\n",
      "num = \n",
      "666\n",
      "SENSOR 3 4.77942694559 -2.51108430416\n",
      "\n",
      "num = \n",
      "667\n",
      "SENSOR 6 3.7036104257 -0.594306761593\n",
      "\n",
      "num = \n",
      "668\n",
      "SENSOR 7 5.20342066846 -1.82597751664\n",
      "\n",
      "num = \n",
      "669\n",
      "ODOMETRY -0.000492703155817 0.0998767019988 -0.000399546911055\n",
      "\n",
      "num = \n",
      "670\n",
      "SENSOR 9 1.50701523022 -2.40519251821\n",
      "\n",
      "num = \n",
      "671\n",
      "SENSOR 3 4.97415244053 -2.57426809268\n",
      "\n",
      "num = \n",
      "672\n",
      "SENSOR 6 3.73937872599 -0.646973765524\n",
      "\n",
      "num = \n",
      "673\n",
      "SENSOR 7 5.04630156868 -1.81126053621\n",
      "\n",
      "num = \n",
      "674\n",
      "ODOMETRY -0.000686941708413 0.100091264802 -0.000646733220067\n",
      "\n",
      "num = \n",
      "675\n",
      "SENSOR 9 1.53949734641 -2.56047560031\n",
      "\n",
      "num = \n",
      "676\n",
      "SENSOR 6 3.54771183278 -0.554710714875\n",
      "\n",
      "num = \n",
      "677\n",
      "ODOMETRY 0.000264360795126 0.0999909746645 -0.000504895193083\n",
      "\n",
      "num = \n",
      "678\n",
      "SENSOR 9 1.51238925612 -2.52278575906\n",
      "\n",
      "num = \n",
      "679\n",
      "SENSOR 6 3.27990661032 -0.58279346945\n",
      "\n",
      "num = \n",
      "680\n",
      "ODOMETRY -1.55641718837e-05 0.100163521473 -0.000133745408038\n",
      "\n",
      "num = \n",
      "681\n",
      "SENSOR 9 1.5098952529 -2.57185137154\n",
      "\n",
      "num = \n",
      "682\n",
      "SENSOR 6 3.39256354505 -0.708652206512\n",
      "\n",
      "num = \n",
      "683\n",
      "ODOMETRY -0.00944281048405 0.0998363016919 -0.0197064530302\n",
      "\n",
      "num = \n",
      "684\n",
      "SENSOR 9 1.7405212542 -2.61856151363\n",
      "\n",
      "num = \n",
      "685\n",
      "SENSOR 6 3.4449354883 -0.653656313882\n",
      "\n",
      "num = \n",
      "686\n",
      "ODOMETRY -0.00982171572374 0.0999283940399 -0.0201816524328\n",
      "\n",
      "num = \n",
      "687\n",
      "SENSOR 9 1.65301995925 -2.56952419519\n",
      "\n",
      "num = \n",
      "688\n",
      "SENSOR 6 3.02584430907 -0.625348664803\n",
      "\n",
      "num = \n",
      "689\n",
      "ODOMETRY -0.011467407889 0.100278553593 -0.0200899025046\n",
      "\n",
      "num = \n",
      "690\n",
      "SENSOR 9 1.84416645507 -2.56385985305\n",
      "\n",
      "num = \n",
      "691\n",
      "SENSOR 6 3.02960198478 -0.517486552302\n",
      "\n",
      "num = \n",
      "692\n",
      "ODOMETRY -0.00949998918607 0.100016536484 -0.0192452653175\n",
      "\n",
      "num = \n",
      "693\n",
      "SENSOR 9 1.83946050295 -2.63003003289\n",
      "\n",
      "num = \n",
      "694\n",
      "SENSOR 6 3.00582309666 -0.577468671279\n",
      "\n",
      "num = \n",
      "695\n",
      "ODOMETRY -0.00998770181841 0.100041220527 -0.0210200884984\n",
      "\n",
      "num = \n",
      "696\n",
      "SENSOR 9 2.1231956515 -2.5712329806\n",
      "\n",
      "num = \n",
      "697\n",
      "SENSOR 6 2.72060090136 -0.611342981081\n",
      "\n",
      "num = \n",
      "698\n",
      "ODOMETRY -0.0104435233728 0.100064843828 -0.0209923840156\n",
      "\n",
      "num = \n",
      "699\n",
      "SENSOR 9 2.2533253491 -2.51358315181\n",
      "\n",
      "num = \n",
      "700\n",
      "SENSOR 6 2.76502567229 -0.610392844017\n",
      "\n",
      "num = \n",
      "701\n",
      "ODOMETRY -0.0101773588174 0.100165429114 -0.0197769867168\n",
      "\n",
      "num = \n",
      "702\n",
      "SENSOR 9 2.27395359652 -2.62138399446\n",
      "\n",
      "num = \n",
      "703\n",
      "SENSOR 6 2.81928646279 -0.499702125893\n",
      "\n",
      "num = \n",
      "704\n",
      "ODOMETRY -0.00963806206216 0.100194140395 -0.0202377586004\n",
      "\n",
      "num = \n",
      "705\n",
      "SENSOR 9 2.19331599608 -2.58825731994\n",
      "\n",
      "num = \n",
      "706\n",
      "SENSOR 6 2.6367644419 -0.585514977039\n",
      "\n",
      "num = \n",
      "707\n",
      "ODOMETRY -0.00969850517913 0.100084649032 -0.0200844906424\n",
      "\n",
      "num = \n",
      "708\n",
      "SENSOR 9 2.38239873462 -2.51826314964\n",
      "\n",
      "num = \n",
      "709\n",
      "SENSOR 6 2.55584502849 -0.617585417568\n",
      "\n",
      "num = \n",
      "710\n",
      "ODOMETRY -0.009760488778 0.100025282561 -0.0212037030791\n",
      "\n",
      "num = \n",
      "711\n",
      "SENSOR 9 2.55229313835 -2.55940451124\n",
      "\n",
      "num = \n",
      "712\n",
      "SENSOR 6 2.63729703758 -0.564546146269\n",
      "\n",
      "num = \n",
      "713\n",
      "ODOMETRY -0.00901024455226 0.0999822225335 -0.0203196475783\n",
      "\n",
      "num = \n",
      "714\n",
      "SENSOR 9 2.542229302 -2.53541280471\n",
      "\n",
      "num = \n",
      "715\n",
      "SENSOR 6 2.27227869215 -0.573875753025\n",
      "\n",
      "num = \n",
      "716\n",
      "ODOMETRY -0.00961564138041 0.0999414405798 -0.0204022645065\n",
      "\n",
      "num = \n",
      "717\n",
      "SENSOR 9 2.70341312756 -2.48331655508\n",
      "\n",
      "num = \n",
      "718\n",
      "SENSOR 6 2.28488250206 -0.552514217678\n",
      "\n",
      "num = \n",
      "719\n",
      "ODOMETRY -0.00990457116932 0.100026465638 -0.0207767178837\n",
      "\n",
      "num = \n",
      "720\n",
      "SENSOR 9 2.56436735907 -2.50931464148\n",
      "\n",
      "num = \n",
      "721\n",
      "SENSOR 6 2.08017880027 -0.487502087503\n",
      "\n",
      "num = \n",
      "722\n",
      "ODOMETRY -0.00998320897741 0.0999813680912 -0.0199150821834\n",
      "\n",
      "num = \n",
      "723\n",
      "SENSOR 9 2.658209228 -2.52967300837\n",
      "\n",
      "num = \n",
      "724\n",
      "SENSOR 6 2.08742861878 -0.468280843216\n",
      "\n",
      "num = \n",
      "725\n",
      "ODOMETRY -0.0107252267638 0.10021159563 -0.0192940861751\n",
      "\n",
      "num = \n",
      "726\n",
      "SENSOR 9 2.79062572373 -2.51801590567\n",
      "\n",
      "num = \n",
      "727\n",
      "SENSOR 6 1.98134535694 -0.51239911617\n",
      "\n",
      "num = \n",
      "728\n",
      "ODOMETRY -0.00931898482752 0.0998313946401 -0.0195045943639\n",
      "\n",
      "num = \n",
      "729\n",
      "SENSOR 9 2.97631712843 -2.59124598555\n",
      "\n",
      "num = \n",
      "730\n",
      "SENSOR 6 1.83278194557 -0.45058413267\n",
      "\n",
      "num = \n",
      "731\n",
      "ODOMETRY -0.0102760318389 0.0999106615633 -0.0196442889398\n",
      "\n",
      "num = \n",
      "732\n",
      "SENSOR 9 3.00538927132 -2.47582875838\n",
      "\n",
      "num = \n",
      "733\n",
      "SENSOR 5 4.86844686309 -0.644513040378\n",
      "\n",
      "num = \n",
      "734\n",
      "SENSOR 6 1.75818612283 -0.557237052247\n",
      "\n",
      "num = \n",
      "735\n",
      "ODOMETRY -0.0104218597473 0.100145397313 -0.0200408029886\n",
      "\n",
      "num = \n",
      "736\n",
      "SENSOR 9 3.06790211886 -2.40968598481\n",
      "\n",
      "num = \n",
      "737\n",
      "SENSOR 5 4.81572738233 -0.616401204908\n",
      "\n",
      "num = \n",
      "738\n",
      "SENSOR 6 1.68748831042 -0.389912308279\n",
      "\n",
      "num = \n",
      "739\n",
      "ODOMETRY -0.0101350745755 0.100091285908 -0.0206119427088\n",
      "\n",
      "num = \n",
      "740\n",
      "SENSOR 9 3.05939885103 -2.42259296594\n",
      "\n",
      "num = \n",
      "741\n",
      "SENSOR 5 4.85625275968 -0.554387962083\n",
      "\n",
      "num = \n",
      "742\n",
      "SENSOR 6 1.69976007626 -0.4523568891\n",
      "\n",
      "num = \n",
      "743\n",
      "ODOMETRY -0.0112125747693 0.100293480859 -0.0200290197221\n",
      "\n",
      "num = \n",
      "744\n",
      "SENSOR 9 3.36060085358 -2.4353356474\n",
      "\n",
      "num = \n",
      "745\n",
      "SENSOR 5 4.60467409396 -0.689671837769\n",
      "\n",
      "num = \n",
      "746\n",
      "SENSOR 6 1.66466459286 -0.434947234979\n",
      "\n",
      "num = \n",
      "747\n",
      "ODOMETRY -0.00936003709598 0.0997788840301 -0.0195655025372\n",
      "\n",
      "num = \n",
      "748\n",
      "SENSOR 9 3.24434042861 -2.50085985671\n",
      "\n",
      "num = \n",
      "749\n",
      "SENSOR 5 4.44097432373 -0.539545027585\n",
      "\n",
      "num = \n",
      "750\n",
      "SENSOR 6 1.44534873942 -0.340798495725\n",
      "\n",
      "num = \n",
      "751\n",
      "ODOMETRY -0.0105609095644 0.100090264715 -0.0197529740061\n",
      "\n",
      "num = \n",
      "752\n",
      "SENSOR 9 3.43181578801 -2.38831289505\n",
      "\n",
      "num = \n",
      "753\n",
      "SENSOR 5 4.47137535155 -0.631269209482\n",
      "\n",
      "num = \n",
      "754\n",
      "SENSOR 6 1.26851574319 -0.398939844547\n",
      "\n",
      "num = \n",
      "755\n",
      "ODOMETRY -0.0107658587575 0.0999709096433 -0.0195658499488\n",
      "\n",
      "num = \n",
      "756\n",
      "SENSOR 9 3.50551920675 -2.39732140232\n",
      "\n",
      "num = \n",
      "757\n",
      "SENSOR 5 4.28281556549 -0.589616154158\n",
      "\n",
      "num = \n",
      "758\n",
      "SENSOR 6 1.28831954512 -0.513359363001\n",
      "\n",
      "num = \n",
      "759\n",
      "ODOMETRY -0.0101758354185 0.10002526256 -0.0193481524309\n",
      "\n",
      "num = \n",
      "760\n",
      "SENSOR 9 3.67081338849 -2.3789885528\n",
      "\n",
      "num = \n",
      "761\n",
      "SENSOR 5 4.40168128717 -0.489968693872\n",
      "\n",
      "num = \n",
      "762\n",
      "SENSOR 6 1.19631205076 -0.512575604526\n",
      "\n",
      "num = \n",
      "763\n",
      "ODOMETRY -0.0110076328184 0.100028655375 -0.0196243037287\n",
      "\n",
      "num = \n",
      "764\n",
      "SENSOR 9 3.62146176736 -2.30271042095\n",
      "\n",
      "num = \n",
      "765\n",
      "SENSOR 5 4.18233806232 -0.556833847024\n",
      "\n",
      "num = \n",
      "766\n",
      "SENSOR 6 1.01671369638 -0.459323796962\n",
      "\n",
      "num = \n",
      "767\n",
      "ODOMETRY -0.00955580720005 0.0998135945322 -0.0197517141062\n",
      "\n",
      "num = \n",
      "768\n",
      "SENSOR 9 3.70417031979 -2.34473876598\n",
      "\n",
      "num = \n",
      "769\n",
      "SENSOR 5 4.17062919093 -0.570876489648\n",
      "\n",
      "num = \n",
      "770\n",
      "SENSOR 6 0.923913647873 -0.520206587019\n",
      "\n",
      "num = \n",
      "771\n",
      "ODOMETRY -0.0091535851559 0.100020863652 -0.0201880877397\n",
      "\n",
      "num = \n",
      "772\n",
      "SENSOR 9 3.69578950794 -2.41413549551\n",
      "\n",
      "num = \n",
      "773\n",
      "SENSOR 5 4.00110518645 -0.494969326567\n",
      "\n",
      "num = \n",
      "774\n",
      "SENSOR 6 0.964762619449 -0.53458348217\n",
      "\n",
      "num = \n",
      "775\n",
      "ODOMETRY -0.010295675802 0.100004015507 -0.0189695088639\n",
      "\n",
      "num = \n",
      "776\n",
      "SENSOR 9 3.69844459713 -2.31420630353\n",
      "\n",
      "num = \n",
      "777\n",
      "SENSOR 5 3.93813832417 -0.404459278547\n",
      "\n",
      "num = \n",
      "778\n",
      "SENSOR 6 0.762339598312 -0.528477333035\n",
      "\n",
      "num = \n",
      "779\n",
      "ODOMETRY -0.00986627304745 0.0999308954255 -0.0194932169016\n",
      "\n",
      "num = \n",
      "780\n",
      "SENSOR 9 3.97863915035 -2.33817010298\n",
      "\n",
      "num = \n",
      "781\n",
      "SENSOR 5 3.91815869731 -0.375382277621\n",
      "\n",
      "num = \n",
      "782\n",
      "SENSOR 6 0.764457865234 -0.692422479677\n",
      "\n",
      "num = \n",
      "783\n",
      "ODOMETRY -0.0105039330611 0.100062635978 -0.0196007510172\n",
      "\n",
      "num = \n",
      "784\n",
      "SENSOR 9 3.99049095935 -2.43100832721\n",
      "\n",
      "num = \n",
      "785\n",
      "SENSOR 5 3.84981410268 -0.339858112469\n",
      "\n",
      "num = \n",
      "786\n",
      "SENSOR 6 0.670707796904 -0.627865459926\n",
      "\n",
      "num = \n",
      "787\n",
      "ODOMETRY -0.0102670061231 0.100220134545 -0.0197649412615\n",
      "\n",
      "num = \n",
      "788\n",
      "SENSOR 9 3.97444895632 -2.34925609157\n",
      "\n",
      "num = \n",
      "789\n",
      "SENSOR 5 3.77657198716 -0.365748954501\n",
      "\n",
      "num = \n",
      "790\n",
      "SENSOR 6 0.724620745167 -0.68784406447\n",
      "\n",
      "num = \n",
      "791\n",
      "ODOMETRY -0.00978517807132 0.0997958111892 -0.0209122965862\n",
      "\n",
      "num = \n",
      "792\n",
      "SENSOR 9 4.03143217141 -2.26626563102\n",
      "\n",
      "num = \n",
      "793\n",
      "SENSOR 5 3.46349133261 -0.34264365269\n",
      "\n",
      "num = \n",
      "794\n",
      "SENSOR 6 0.475188697577 -0.867727704814\n",
      "\n",
      "num = \n",
      "795\n",
      "ODOMETRY -0.0108972815108 0.0998936621075 -0.0198820412631\n",
      "\n",
      "num = \n",
      "796\n",
      "SENSOR 9 4.23985887378 -2.26854947811\n",
      "\n",
      "num = \n",
      "797\n",
      "SENSOR 5 3.41389965628 -0.282744929273\n",
      "\n",
      "num = \n",
      "798\n",
      "SENSOR 6 0.627709996436 -0.94148755275\n",
      "\n",
      "num = \n",
      "799\n",
      "ODOMETRY -0.0092026691367 0.0998946022284 -0.0202789115158\n",
      "\n",
      "num = \n",
      "800\n",
      "SENSOR 9 4.11518464247 -2.31925173137\n",
      "\n",
      "num = \n",
      "801\n",
      "SENSOR 5 3.37747667925 -0.382887053434\n",
      "\n",
      "num = \n",
      "802\n",
      "SENSOR 6 0.347854511055 -1.06521018247\n",
      "\n",
      "num = \n",
      "803\n",
      "ODOMETRY -0.00964561978411 0.0999128007624 -0.0203232411783\n",
      "\n",
      "num = \n",
      "804\n",
      "SENSOR 9 4.2592528018 -2.25631821864\n",
      "\n",
      "num = \n",
      "805\n",
      "SENSOR 5 3.48949092568 -0.316251464921\n",
      "\n",
      "num = \n",
      "806\n",
      "SENSOR 6 0.418415784686 -1.24819855562\n",
      "\n",
      "num = \n",
      "807\n",
      "ODOMETRY -0.0090889765955 0.100078317535 -0.0208387649645\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "808\n",
      "SENSOR 9 4.38985383683 -2.35866286668\n",
      "\n",
      "num = \n",
      "809\n",
      "SENSOR 5 3.28107289655 -0.276801161352\n",
      "\n",
      "num = \n",
      "810\n",
      "SENSOR 6 0.520377085458 -1.46790593847\n",
      "\n",
      "num = \n",
      "811\n",
      "ODOMETRY -0.00947836960967 0.0999378658775 -0.0205443341273\n",
      "\n",
      "num = \n",
      "812\n",
      "SENSOR 9 4.49482605041 -2.26889815025\n",
      "\n",
      "num = \n",
      "813\n",
      "SENSOR 5 3.15258240035 -0.336438423951\n",
      "\n",
      "num = \n",
      "814\n",
      "SENSOR 6 0.430980850097 -1.70329062466\n",
      "\n",
      "num = \n",
      "815\n",
      "ODOMETRY -0.00935420041505 0.100110622918 -0.0200634654475\n",
      "\n",
      "num = \n",
      "816\n",
      "SENSOR 9 4.56500399918 -2.3031466037\n",
      "\n",
      "num = \n",
      "817\n",
      "SENSOR 5 2.91571056826 -0.232623268414\n",
      "\n",
      "num = \n",
      "818\n",
      "SENSOR 6 0.330244890906 -1.90953716454\n",
      "\n",
      "num = \n",
      "819\n",
      "ODOMETRY -0.010269880911 0.100061171307 -0.0197644075107\n",
      "\n",
      "num = \n",
      "820\n",
      "SENSOR 9 4.69167462854 -2.22658998309\n",
      "\n",
      "num = \n",
      "821\n",
      "SENSOR 5 3.08433569089 -0.337143319208\n",
      "\n",
      "num = \n",
      "822\n",
      "SENSOR 6 0.554762750925 -2.10973524603\n",
      "\n",
      "num = \n",
      "823\n",
      "ODOMETRY -0.00999199793928 0.0999665305154 -0.0202757591957\n",
      "\n",
      "num = \n",
      "824\n",
      "SENSOR 9 4.76284132902 -2.15126005988\n",
      "\n",
      "num = \n",
      "825\n",
      "SENSOR 5 2.95938070311 -0.158178168659\n",
      "\n",
      "num = \n",
      "826\n",
      "SENSOR 6 0.549503125028 -2.27808301514\n",
      "\n",
      "num = \n",
      "827\n",
      "ODOMETRY -0.00986005097223 0.100173854445 -0.0189859725838\n",
      "\n",
      "num = \n",
      "828\n",
      "SENSOR 9 4.62199069994 -2.18236767895\n",
      "\n",
      "num = \n",
      "829\n",
      "SENSOR 5 2.88364841405 -0.211583718625\n",
      "\n",
      "num = \n",
      "830\n",
      "SENSOR 6 0.608371630443 -2.36582694156\n",
      "\n",
      "num = \n",
      "831\n",
      "ODOMETRY -0.0101721448458 0.0998079193853 -0.0198301989047\n",
      "\n",
      "num = \n",
      "832\n",
      "SENSOR 9 4.6158486866 -2.14373953498\n",
      "\n",
      "num = \n",
      "833\n",
      "SENSOR 5 2.58243352082 -0.200858606282\n",
      "\n",
      "num = \n",
      "834\n",
      "SENSOR 6 0.747480535627 -2.41041090005\n",
      "\n",
      "num = \n",
      "835\n",
      "ODOMETRY -0.0103893957533 0.0999764229641 -0.0201432882674\n",
      "\n",
      "num = \n",
      "836\n",
      "SENSOR 9 4.86345125952 -2.16850372828\n",
      "\n",
      "num = \n",
      "837\n",
      "SENSOR 5 2.53715647378 -0.0219189488566\n",
      "\n",
      "num = \n",
      "838\n",
      "SENSOR 6 0.638025009019 -2.44082398988\n",
      "\n",
      "num = \n",
      "839\n",
      "ODOMETRY -0.0110796247981 0.100123354178 -0.0203009558875\n",
      "\n",
      "num = \n",
      "840\n",
      "SENSOR 9 4.80447773758 -2.11401632864\n",
      "\n",
      "num = \n",
      "841\n",
      "SENSOR 5 2.52598129404 -0.147975261228\n",
      "\n",
      "num = \n",
      "842\n",
      "SENSOR 6 0.774158398614 -2.52392662998\n",
      "\n",
      "num = \n",
      "843\n",
      "ODOMETRY -0.0105396114623 0.100008052618 -0.0201317969487\n",
      "\n",
      "num = \n",
      "844\n",
      "SENSOR 9 4.92716774584 -2.183105981\n",
      "\n",
      "num = \n",
      "845\n",
      "SENSOR 5 2.5239692479 -0.10125627604\n",
      "\n",
      "num = \n",
      "846\n",
      "SENSOR 6 0.898459257994 -2.5942905006\n",
      "\n",
      "num = \n",
      "847\n",
      "ODOMETRY -0.0101753448007 0.100002913472 -0.0206574320107\n",
      "\n",
      "num = \n",
      "848\n",
      "SENSOR 9 5.01194140521 -2.08598842578\n",
      "\n",
      "num = \n",
      "849\n",
      "SENSOR 5 2.42112473613 -0.0714350873771\n",
      "\n",
      "num = \n",
      "850\n",
      "SENSOR 6 0.878381860102 -2.66964579914\n",
      "\n",
      "num = \n",
      "851\n",
      "ODOMETRY -0.0103462997287 0.0999423849927 -0.0195755267881\n",
      "\n",
      "num = \n",
      "852\n",
      "SENSOR 5 2.23964032564 -0.0586867747141\n",
      "\n",
      "num = \n",
      "853\n",
      "SENSOR 6 1.24988717446 -2.58043089475\n",
      "\n",
      "num = \n",
      "854\n",
      "ODOMETRY -0.0107865547639 0.10003293752 -0.0196069887085\n",
      "\n",
      "num = \n",
      "855\n",
      "SENSOR 5 1.94979000746 -0.0453900849002\n",
      "\n",
      "num = \n",
      "856\n",
      "SENSOR 6 1.290168152 -2.6828250479\n",
      "\n",
      "num = \n",
      "857\n",
      "ODOMETRY -0.0108544957486 0.100230199128 -0.0189367396772\n",
      "\n",
      "num = \n",
      "858\n",
      "SENSOR 5 2.22911731184 -0.00122688508787\n",
      "\n",
      "num = \n",
      "859\n",
      "SENSOR 6 1.21205806069 -2.64632589698\n",
      "\n",
      "num = \n",
      "860\n",
      "ODOMETRY -0.00993341143727 0.0999418232338 -0.0202662925326\n",
      "\n",
      "num = \n",
      "861\n",
      "SENSOR 4 4.99272912579 -0.274166164371\n",
      "\n",
      "num = \n",
      "862\n",
      "SENSOR 5 1.81092330137 0.0761110639692\n",
      "\n",
      "num = \n",
      "863\n",
      "SENSOR 6 1.36882473059 -2.60089763233\n",
      "\n",
      "num = \n",
      "864\n",
      "ODOMETRY -0.0104826202942 0.0999751788151 -0.0191967893743\n",
      "\n",
      "num = \n",
      "865\n",
      "SENSOR 4 4.69854535708 -0.223485928377\n",
      "\n",
      "num = \n",
      "866\n",
      "SENSOR 5 1.7001461128 0.0429298228702\n",
      "\n",
      "num = \n",
      "867\n",
      "SENSOR 6 1.30623051674 -2.58399330818\n",
      "\n",
      "num = \n",
      "868\n",
      "ODOMETRY 0.000324810885789 0.0998821776257 -0.000359989641411\n",
      "\n",
      "num = \n",
      "869\n",
      "SENSOR 4 5.09005860279 -0.233743736727\n",
      "\n",
      "num = \n",
      "870\n",
      "SENSOR 5 1.58907104446 0.12166808225\n",
      "\n",
      "num = \n",
      "871\n",
      "SENSOR 6 1.50018263441 -2.63967144455\n",
      "\n",
      "num = \n",
      "872\n",
      "ODOMETRY -0.000418164888098 0.0999656435967 -3.68260681419e-05\n",
      "\n",
      "num = \n",
      "873\n",
      "SENSOR 4 4.74946984204 -0.126245943621\n",
      "\n",
      "num = \n",
      "874\n",
      "SENSOR 5 1.55519072464 0.0805634344737\n",
      "\n",
      "num = \n",
      "875\n",
      "SENSOR 6 1.63437464886 -2.74620564163\n",
      "\n",
      "num = \n",
      "876\n",
      "ODOMETRY 0.000475115856201 0.100024313407 0.000393598981251\n",
      "\n",
      "num = \n",
      "877\n",
      "SENSOR 4 4.50322759327 -0.208257404441\n",
      "\n",
      "num = \n",
      "878\n",
      "SENSOR 5 1.40431609203 0.102953443634\n",
      "\n",
      "num = \n",
      "879\n",
      "SENSOR 6 1.92474673868 -2.70532942045\n",
      "\n",
      "num = \n",
      "880\n",
      "SENSOR 7 4.8035115893 -1.34951568347\n",
      "\n",
      "num = \n",
      "881\n",
      "ODOMETRY -8.36142030851e-05 0.0998721448335 -0.000260661559938\n",
      "\n",
      "num = \n",
      "882\n",
      "SENSOR 4 4.36260790638 -0.247754318384\n",
      "\n",
      "num = \n",
      "883\n",
      "SENSOR 5 1.47019886492 0.0682113654816\n",
      "\n",
      "num = \n",
      "884\n",
      "SENSOR 6 1.77940808395 -2.71217766237\n",
      "\n",
      "num = \n",
      "885\n",
      "SENSOR 7 5.2180857839 -1.31953374687\n",
      "\n",
      "num = \n",
      "886\n",
      "ODOMETRY 0.000197959165217 0.100131767346 0.000281610671693\n",
      "\n",
      "num = \n",
      "887\n",
      "SENSOR 4 4.44601043546 -0.326392394425\n",
      "\n",
      "num = \n",
      "888\n",
      "SENSOR 5 1.19003310152 0.115920050334\n",
      "\n",
      "num = \n",
      "889\n",
      "SENSOR 6 2.05288544044 -2.83359564739\n",
      "\n",
      "num = \n",
      "890\n",
      "SENSOR 7 4.97368047041 -1.40535275082\n",
      "\n",
      "num = \n",
      "891\n",
      "ODOMETRY -0.000164122759813 0.0999543664159 -0.000303793093368\n",
      "\n",
      "num = \n",
      "892\n",
      "SENSOR 4 4.42845729357 -0.199738979168\n",
      "\n",
      "num = \n",
      "893\n",
      "SENSOR 5 1.17917386982 0.18688342145\n",
      "\n",
      "num = \n",
      "894\n",
      "SENSOR 6 1.9596965856 -2.82416076788\n",
      "\n",
      "num = \n",
      "895\n",
      "SENSOR 7 4.92694129534 -1.35478197562\n",
      "\n",
      "num = \n",
      "896\n",
      "ODOMETRY 0.000333398378648 0.0999246910299 -0.000238132530679\n",
      "\n",
      "num = \n",
      "897\n",
      "SENSOR 4 4.10993462238 -0.218612334131\n",
      "\n",
      "num = \n",
      "898\n",
      "SENSOR 5 1.02261696425 0.152968841424\n",
      "\n",
      "num = \n",
      "899\n",
      "SENSOR 6 2.17175440342 -2.77569049944\n",
      "\n",
      "num = \n",
      "900\n",
      "SENSOR 7 4.9569182734 -1.483064888\n",
      "\n",
      "num = \n",
      "901\n",
      "ODOMETRY 0.000655493141672 0.100066766391 0.000616803666521\n",
      "\n",
      "num = \n",
      "902\n",
      "SENSOR 4 3.89656801687 -0.154099643488\n",
      "\n",
      "num = \n",
      "903\n",
      "SENSOR 5 0.905689372217 0.172402059922\n",
      "\n",
      "num = \n",
      "904\n",
      "SENSOR 6 2.13167650164 -2.75783273628\n",
      "\n",
      "num = \n",
      "905\n",
      "SENSOR 7 4.8549234685 -1.39334612816\n",
      "\n",
      "num = \n",
      "906\n",
      "ODOMETRY -0.000159452291233 0.100045036471 0.000808106642051\n",
      "\n",
      "num = \n",
      "907\n",
      "SENSOR 4 3.94173958574 -0.302887305467\n",
      "\n",
      "num = \n",
      "908\n",
      "SENSOR 5 1.14270798286 0.168760719018\n",
      "\n",
      "num = \n",
      "909\n",
      "SENSOR 6 2.18631073434 -2.81520889899\n",
      "\n",
      "num = \n",
      "910\n",
      "SENSOR 7 5.10636542466 -1.4209085397\n",
      "\n",
      "num = \n",
      "911\n",
      "ODOMETRY 0.00078211331779 0.10000393139 0.000293823867121\n",
      "\n",
      "num = \n",
      "912\n",
      "SENSOR 4 3.90151568357 -0.230804046777\n",
      "\n",
      "num = \n",
      "913\n",
      "SENSOR 5 0.712985585874 0.132988889564\n",
      "\n",
      "num = \n",
      "914\n",
      "SENSOR 6 2.15622970424 -2.85121206477\n",
      "\n",
      "num = \n",
      "915\n",
      "SENSOR 7 4.91179352895 -1.43675629418\n",
      "\n",
      "num = \n",
      "916\n",
      "ODOMETRY -0.000245429391129 0.0999070378738 4.52120481994e-05\n",
      "\n",
      "num = \n",
      "917\n",
      "SENSOR 4 3.64288246527 -0.35019983237\n",
      "\n",
      "num = \n",
      "918\n",
      "SENSOR 5 0.799736995544 0.23802034997\n",
      "\n",
      "num = \n",
      "919\n",
      "SENSOR 6 2.48255730306 -2.88618660948\n",
      "\n",
      "num = \n",
      "920\n",
      "SENSOR 7 4.91606982523 -1.51036160945\n",
      "\n",
      "num = \n",
      "921\n",
      "ODOMETRY -0.000170601987707 0.0999805604304 -7.40939785008e-05\n",
      "\n",
      "num = \n",
      "922\n",
      "SENSOR 4 3.60050259878 -0.29206119154\n",
      "\n",
      "num = \n",
      "923\n",
      "SENSOR 5 0.456888182182 0.189816312354\n",
      "\n",
      "num = \n",
      "924\n",
      "SENSOR 6 2.6445990428 -2.85742387613\n",
      "\n",
      "num = \n",
      "925\n",
      "SENSOR 7 4.75304634682 -1.42550073299\n",
      "\n",
      "num = \n",
      "926\n",
      "ODOMETRY -0.00152630081795 0.0999133992614 -0.000430283518585\n",
      "\n",
      "num = \n",
      "927\n",
      "SENSOR 4 3.606832886 -0.248641284229\n",
      "\n",
      "num = \n",
      "928\n",
      "SENSOR 5 0.495940573578 0.31820180197\n",
      "\n",
      "num = \n",
      "929\n",
      "SENSOR 6 2.62200407047 -2.87985859301\n",
      "\n",
      "num = \n",
      "930\n",
      "SENSOR 7 4.75456323488 -1.62447424499\n",
      "\n",
      "num = \n",
      "931\n",
      "ODOMETRY -0.000217759654145 0.100001221848 -2.15306964727e-05\n",
      "\n",
      "num = \n",
      "932\n",
      "SENSOR 4 3.59697409395 -0.279183028245\n",
      "\n",
      "num = \n",
      "933\n",
      "SENSOR 5 0.480705021357 0.34438043649\n",
      "\n",
      "num = \n",
      "934\n",
      "SENSOR 6 2.63552269525 -2.87953212119\n",
      "\n",
      "num = \n",
      "935\n",
      "SENSOR 7 4.92559449029 -1.53430624815\n",
      "\n",
      "num = \n",
      "936\n",
      "ODOMETRY -0.000482506428273 0.0999122174435 -0.000580035297792\n",
      "\n",
      "num = \n",
      "937\n",
      "SENSOR 4 3.47586551117 -0.349238295616\n",
      "\n",
      "num = \n",
      "938\n",
      "SENSOR 5 0.220999951716 0.388622010704\n",
      "\n",
      "num = \n",
      "939\n",
      "SENSOR 6 2.82004661589 -2.92802181092\n",
      "\n",
      "num = \n",
      "940\n",
      "SENSOR 7 4.82070833488 -1.58213543982\n",
      "\n",
      "num = \n",
      "941\n",
      "ODOMETRY -0.000139550189593 0.100064120469 -2.76254777159e-05\n",
      "\n",
      "num = \n",
      "942\n",
      "SENSOR 4 3.36308480601 -0.338986772029\n",
      "\n",
      "num = \n",
      "943\n",
      "SENSOR 5 0.444200909715 0.716185023584\n",
      "\n",
      "num = \n",
      "944\n",
      "SENSOR 6 2.87114105271 -2.87495975842\n",
      "\n",
      "num = \n",
      "945\n",
      "SENSOR 7 5.00458709072 -1.58257275001\n",
      "\n",
      "num = \n",
      "946\n",
      "ODOMETRY 0.000625023111235 0.100033704567 0.000788974348719\n",
      "\n",
      "num = \n",
      "947\n",
      "SENSOR 4 3.13679295783 -0.355723706289\n",
      "\n",
      "num = \n",
      "948\n",
      "SENSOR 5 0.132273645824 1.00432805138\n",
      "\n",
      "num = \n",
      "949\n",
      "SENSOR 6 3.04078654628 -2.86651045039\n",
      "\n",
      "num = \n",
      "950\n",
      "SENSOR 7 4.91504091129 -1.62691182927\n",
      "\n",
      "num = \n",
      "951\n",
      "ODOMETRY -0.000430603052429 0.100031372434 -0.000194224656002\n",
      "\n",
      "num = \n",
      "952\n",
      "SENSOR 4 2.89257924978 -0.261154689677\n",
      "\n",
      "num = \n",
      "953\n",
      "SENSOR 5 0.0869154821736 1.57743143981\n",
      "\n",
      "num = \n",
      "954\n",
      "SENSOR 6 2.90779553154 -2.87205172826\n",
      "\n",
      "num = \n",
      "955\n",
      "SENSOR 7 4.87504647749 -1.67682352072\n",
      "\n",
      "num = \n",
      "956\n",
      "ODOMETRY -0.000394366473818 0.0999652691747 0.000203739446394\n",
      "\n",
      "num = \n",
      "957\n",
      "SENSOR 4 2.95060694926 -0.40938842696\n",
      "\n",
      "num = \n",
      "958\n",
      "SENSOR 5 0.187834365445 2.26857479846\n",
      "\n",
      "num = \n",
      "959\n",
      "SENSOR 6 3.31126955451 -2.92453711135\n",
      "\n",
      "num = \n",
      "960\n",
      "SENSOR 7 5.00762306838 -1.62193179913\n",
      "\n",
      "num = \n",
      "961\n",
      "ODOMETRY 0.000188872633703 0.0998900920204 -0.000404695062714\n",
      "\n",
      "num = \n",
      "962\n",
      "SENSOR 4 2.71804063576 -0.263896340835\n",
      "\n",
      "num = \n",
      "963\n",
      "SENSOR 5 0.117592609818 2.55977634237\n",
      "\n",
      "num = \n",
      "964\n",
      "SENSOR 6 3.49353272518 -2.94938522616\n",
      "\n",
      "num = \n",
      "965\n",
      "SENSOR 7 4.88923424474 -1.71729987801\n",
      "\n",
      "num = \n",
      "966\n",
      "ODOMETRY 0.000463123137535 0.100026190262 -0.000467923097136\n",
      "\n",
      "num = \n",
      "967\n",
      "SENSOR 4 2.79334888537 -0.399856478188\n",
      "\n",
      "num = \n",
      "968\n",
      "SENSOR 5 0.493078840954 2.63845120424\n",
      "\n",
      "num = \n",
      "969\n",
      "SENSOR 6 3.4746419933 -2.96022159027\n",
      "\n",
      "num = \n",
      "970\n",
      "SENSOR 7 4.852250925 -1.62247582516\n",
      "\n",
      "num = \n",
      "971\n",
      "ODOMETRY 0.000204722786588 0.100025452409 -0.000621143247794\n",
      "\n",
      "num = \n",
      "972\n",
      "SENSOR 4 2.73084876629 -0.369067978649\n",
      "\n",
      "num = \n",
      "973\n",
      "SENSOR 5 0.42617115042 2.86523242658\n",
      "\n",
      "num = \n",
      "974\n",
      "SENSOR 6 3.81253344685 -2.96532036628\n",
      "\n",
      "num = \n",
      "975\n",
      "SENSOR 7 4.96857297672 -1.68391105412\n",
      "\n",
      "num = \n",
      "976\n",
      "ODOMETRY -0.000217736658741 0.0999861864311 -0.000591307921892\n",
      "\n",
      "num = \n",
      "977\n",
      "SENSOR 4 2.6677545575 -0.3747009033\n",
      "\n",
      "num = \n",
      "978\n",
      "SENSOR 5 0.7159982817 2.86732646754\n",
      "\n",
      "num = \n",
      "979\n",
      "SENSOR 6 3.60775134837 -3.03170946031\n",
      "\n",
      "num = \n",
      "980\n",
      "SENSOR 7 4.85926199224 -1.74229396012\n",
      "\n",
      "num = \n",
      "981\n",
      "ODOMETRY -0.000184559437448 0.100062080709 -0.000284379235048\n",
      "\n",
      "num = \n",
      "982\n",
      "SENSOR 4 2.47524626759 -0.497455287779\n",
      "\n",
      "num = \n",
      "983\n",
      "SENSOR 5 0.515976055959 2.86747266043\n",
      "\n",
      "num = \n",
      "984\n",
      "SENSOR 6 3.71140327246 -2.89739069321\n",
      "\n",
      "num = \n",
      "985\n",
      "SENSOR 7 4.86833979771 -1.86747905373\n",
      "\n",
      "num = \n",
      "986\n",
      "ODOMETRY -0.000423831010905 0.100055729458 0.000522719071377\n",
      "\n",
      "num = \n",
      "987\n",
      "SENSOR 4 2.40614223049 -0.363441019406\n",
      "\n",
      "num = \n",
      "988\n",
      "SENSOR 5 0.586364241415 2.87684153835\n",
      "\n",
      "num = \n",
      "989\n",
      "SENSOR 6 3.90284744099 -2.93101327542\n",
      "\n",
      "num = \n",
      "990\n",
      "SENSOR 7 4.77611939003 -1.8279190371\n",
      "\n",
      "num = \n",
      "991\n",
      "ODOMETRY -0.000503367053185 0.100103555799 0.000819633507756\n",
      "\n",
      "num = \n",
      "992\n",
      "SENSOR 4 2.40160042935 -0.389154949411\n",
      "\n",
      "num = \n",
      "993\n",
      "SENSOR 5 0.853827928964 3.00466868631\n",
      "\n",
      "num = \n",
      "994\n",
      "SENSOR 6 3.82496452269 -2.95364332599\n",
      "\n",
      "num = \n",
      "995\n",
      "SENSOR 7 5.02564796909 -1.78367151428\n",
      "\n",
      "num = \n",
      "996\n",
      "ODOMETRY -0.00080944386785 0.100013043879 1.97022648298e-05\n",
      "\n",
      "num = \n",
      "997\n",
      "SENSOR 4 2.14265941231 -0.576114496391\n",
      "\n",
      "num = \n",
      "998\n",
      "SENSOR 5 1.06875104344 3.01158775394\n",
      "\n",
      "num = \n",
      "999\n",
      "SENSOR 6 4.04413273461 -2.9178294235\n",
      "\n",
      "num = \n",
      "1000\n",
      "SENSOR 7 5.0221824592 -1.79251846775\n",
      "\n",
      "num = \n",
      "1001\n",
      "ODOMETRY -0.000993208621031 0.0998844685408 -0.000121644357505\n",
      "\n",
      "num = \n",
      "1002\n",
      "SENSOR 4 2.27760317493 -0.454019833416\n",
      "\n",
      "num = \n",
      "1003\n",
      "SENSOR 5 0.989955134561 3.00334167163\n",
      "\n",
      "num = \n",
      "1004\n",
      "SENSOR 6 4.0746975399 -2.97885744051\n",
      "\n",
      "num = \n",
      "1005\n",
      "ODOMETRY -0.000250538104947 0.100118558009 0.000470538017319\n",
      "\n",
      "num = \n",
      "1006\n",
      "SENSOR 8 5.08620163194 -1.49046025052\n",
      "\n",
      "num = \n",
      "1007\n",
      "SENSOR 4 2.30195764953 -0.428336448448\n",
      "\n",
      "num = \n",
      "1008\n",
      "SENSOR 5 1.20549687351 2.9880742534\n",
      "\n",
      "num = \n",
      "1009\n",
      "SENSOR 6 4.35196037607 -2.99771407728\n",
      "\n",
      "num = \n",
      "1010\n",
      "ODOMETRY -0.000419971039834 0.0999850157042 -0.000136873067745\n",
      "\n",
      "num = \n",
      "1011\n",
      "SENSOR 8 4.9606373049 -1.48374082501\n",
      "\n",
      "num = \n",
      "1012\n",
      "SENSOR 4 2.02122842241 -0.612520417005\n",
      "\n",
      "num = \n",
      "1013\n",
      "SENSOR 5 1.18548266277 2.91183826645\n",
      "\n",
      "num = \n",
      "1014\n",
      "SENSOR 6 4.40601584512 -3.00750175779\n",
      "\n",
      "num = \n",
      "1015\n",
      "ODOMETRY 0.000258908008153 0.0999880869982 -0.000878618195419\n",
      "\n",
      "num = \n",
      "1016\n",
      "SENSOR 8 5.07928480298 -1.47517883113\n",
      "\n",
      "num = \n",
      "1017\n",
      "SENSOR 4 1.95540196161 -0.524791774647\n",
      "\n",
      "num = \n",
      "1018\n",
      "SENSOR 5 1.50601099601 3.02951420464\n",
      "\n",
      "num = \n",
      "1019\n",
      "SENSOR 6 4.2697515621 -2.91223271519\n",
      "\n",
      "num = \n",
      "1020\n",
      "ODOMETRY 8.35160305286e-05 0.0998921936279 -0.000916685935868\n",
      "\n",
      "num = \n",
      "1021\n",
      "SENSOR 8 5.12480337929 -1.5292251446\n",
      "\n",
      "num = \n",
      "1022\n",
      "SENSOR 4 1.8502364216 -0.640053414064\n",
      "\n",
      "num = \n",
      "1023\n",
      "SENSOR 5 1.22548414583 3.00267777115\n",
      "\n",
      "num = \n",
      "1024\n",
      "SENSOR 6 4.59119051094 -3.00286235802\n",
      "\n",
      "num = \n",
      "1025\n",
      "ODOMETRY 0.000276055660063 0.0999750533485 0.000328587305689\n",
      "\n",
      "num = \n",
      "1026\n",
      "SENSOR 8 4.85707120873 -1.55643745133\n",
      "\n",
      "num = \n",
      "1027\n",
      "SENSOR 4 1.6853612932 -0.640165672521\n",
      "\n",
      "num = \n",
      "1028\n",
      "SENSOR 5 1.40741969379 3.08301703619\n",
      "\n",
      "num = \n",
      "1029\n",
      "SENSOR 6 4.43722471141 -2.92421694343\n",
      "\n",
      "num = \n",
      "1030\n",
      "ODOMETRY -0.000612253935663 0.100030803164 0.000384082346755\n",
      "\n",
      "num = \n",
      "1031\n",
      "SENSOR 8 4.8148264003 -1.5861711641\n",
      "\n",
      "num = \n",
      "1032\n",
      "SENSOR 4 1.62945141541 -0.645906242858\n",
      "\n",
      "num = \n",
      "1033\n",
      "SENSOR 5 1.57411900279 3.00136290051\n",
      "\n",
      "num = \n",
      "1034\n",
      "SENSOR 6 4.74165161304 -2.88381335457\n",
      "\n",
      "num = \n",
      "1035\n",
      "ODOMETRY -0.000615965348572 0.0999645830188 0.000122066793836\n",
      "\n",
      "num = \n",
      "1036\n",
      "SENSOR 8 5.09246076865 -1.62935789257\n",
      "\n",
      "num = \n",
      "1037\n",
      "SENSOR 4 1.50283498391 -0.764000413422\n",
      "\n",
      "num = \n",
      "1038\n",
      "SENSOR 5 1.65903158666 3.20124071317\n",
      "\n",
      "num = \n",
      "1039\n",
      "SENSOR 6 4.68619938405 -3.0067714176\n",
      "\n",
      "num = \n",
      "1040\n",
      "ODOMETRY 0.00010181891152 0.100046833019 0.000440816980011\n",
      "\n",
      "num = \n",
      "1041\n",
      "SENSOR 8 5.10307136294 -1.5981894044\n",
      "\n",
      "num = \n",
      "1042\n",
      "SENSOR 4 1.3396692961 -0.647480763035\n",
      "\n",
      "num = \n",
      "1043\n",
      "SENSOR 5 1.89463338292 3.13168562413\n",
      "\n",
      "num = \n",
      "1044\n",
      "SENSOR 6 4.79308799565 -3.00728766374\n",
      "\n",
      "num = \n",
      "1045\n",
      "ODOMETRY -0.000291816369108 0.100048609814 -0.00104644833934\n",
      "\n",
      "num = \n",
      "1046\n",
      "SENSOR 8 5.05308894221 -1.61739005656\n",
      "\n",
      "num = \n",
      "1047\n",
      "SENSOR 4 1.55728242344 -0.778699498829\n",
      "\n",
      "num = \n",
      "1048\n",
      "SENSOR 5 1.76096780816 3.0522097073\n",
      "\n",
      "num = \n",
      "1049\n",
      "ODOMETRY 8.52183257962e-05 0.0998196908854 0.000109532441973\n",
      "\n",
      "num = \n",
      "1050\n",
      "SENSOR 8 4.93860295592 -1.59049668067\n",
      "\n",
      "num = \n",
      "1051\n",
      "SENSOR 4 1.44172934018 -0.934292188086\n",
      "\n",
      "num = \n",
      "1052\n",
      "SENSOR 5 1.92234124612 3.05518288622\n",
      "\n",
      "num = \n",
      "1053\n",
      "ODOMETRY 7.22338246953e-05 0.0999023454001 -3.77129042551e-05\n",
      "\n",
      "num = \n",
      "1054\n",
      "SENSOR 8 5.1479288931 -1.65822977182\n",
      "\n",
      "num = \n",
      "1055\n",
      "SENSOR 4 1.25455156912 -0.879623084747\n",
      "\n",
      "num = \n",
      "1056\n",
      "SENSOR 5 2.37861473612 3.10537197028\n",
      "\n",
      "num = \n",
      "1057\n",
      "ODOMETRY 0.000670127696266 0.100006079133 0.000625609916127\n",
      "\n",
      "num = \n",
      "1058\n",
      "SENSOR 8 5.09480518246 -1.65212699893\n",
      "\n",
      "num = \n",
      "1059\n",
      "SENSOR 4 1.40390131939 -0.879816536972\n",
      "\n",
      "num = \n",
      "1060\n",
      "SENSOR 5 2.20542921923 3.11477051951\n",
      "\n",
      "num = \n",
      "1061\n",
      "ODOMETRY 0.000570783669274 0.0999546481828 0.000310239449538\n",
      "\n",
      "num = \n",
      "1062\n",
      "SENSOR 4 1.06631403361 -1.08193342846\n",
      "\n",
      "num = \n",
      "1063\n",
      "SENSOR 5 2.47203994196 3.13761545266\n",
      "\n",
      "num = \n",
      "1064\n",
      "ODOMETRY 3.85114033074e-05 0.100176546577 0.000173947982474\n",
      "\n",
      "num = \n",
      "1065\n",
      "SENSOR 4 1.20265396615 -1.09036457216\n",
      "\n",
      "num = \n",
      "1066\n",
      "SENSOR 5 2.34144827576 3.04411849412\n",
      "\n",
      "num = \n",
      "1067\n",
      "ODOMETRY 0.000776427377761 0.099952687123 -0.000941767872499\n",
      "\n",
      "num = \n",
      "1068\n",
      "SENSOR 4 1.16717333388 -1.12821635833\n",
      "\n",
      "num = \n",
      "1069\n",
      "SENSOR 5 2.46018754147 3.12942300941\n",
      "\n",
      "num = \n",
      "1070\n",
      "ODOMETRY -0.000182525437042 0.0999468132926 -0.000158790994297\n",
      "\n",
      "num = \n",
      "1071\n",
      "SENSOR 4 1.0123884597 -1.2839270903\n",
      "\n",
      "num = \n",
      "1072\n",
      "SENSOR 5 2.62303723473 2.94037324821\n",
      "\n",
      "num = \n",
      "1073\n",
      "ODOMETRY -0.000682345311597 0.099958072456 0.00043862067399\n",
      "\n",
      "num = \n",
      "1074\n",
      "SENSOR 4 1.00020435353 -1.2311017102\n",
      "\n",
      "num = \n",
      "1075\n",
      "SENSOR 5 2.83365938044 3.10650495611\n",
      "\n",
      "num = \n",
      "1076\n",
      "ODOMETRY -9.19632135689e-07 0.10002313352 -0.000224880476229\n",
      "\n",
      "num = \n",
      "1077\n",
      "SENSOR 4 0.849352538956 -1.46997822321\n",
      "\n",
      "num = \n",
      "1078\n",
      "SENSOR 5 2.85184515953 3.11408226771\n",
      "\n",
      "num = \n",
      "1079\n",
      "ODOMETRY -0.000798214396223 0.0999079224924 0.000213586041509\n",
      "\n",
      "num = \n",
      "1080\n",
      "SENSOR 4 1.10312028502 -1.48363601494\n",
      "\n",
      "num = \n",
      "1081\n",
      "SENSOR 5 3.00416166275 3.10884116279\n",
      "\n",
      "num = \n",
      "1082\n",
      "ODOMETRY -0.000984233781833 0.0999672948533 7.64590930276e-05\n",
      "\n",
      "num = \n",
      "1083\n",
      "SENSOR 4 1.04848307593 -1.64994919996\n",
      "\n",
      "num = \n",
      "1084\n",
      "SENSOR 5 3.02744738541 3.06646084819\n",
      "\n",
      "num = \n",
      "1085\n",
      "ODOMETRY -0.000260628905805 0.0999789088987 0.00116057007669\n",
      "\n",
      "num = \n",
      "1086\n",
      "SENSOR 4 1.01403868185 -1.8074118964\n",
      "\n",
      "num = \n",
      "1087\n",
      "SENSOR 5 3.08384570669 3.04030179903\n",
      "\n",
      "num = \n",
      "1088\n",
      "ODOMETRY -0.000220095556118 0.0999551962105 -0.000481994451249\n",
      "\n",
      "num = \n",
      "1089\n",
      "SENSOR 4 0.949362251022 -1.93475998957\n",
      "\n",
      "num = \n",
      "1090\n",
      "SENSOR 5 3.02874489038 3.02677668221\n",
      "\n",
      "num = \n",
      "1091\n",
      "ODOMETRY 0.00031060131166 0.100181543701 -0.20019265501\n",
      "\n",
      "num = \n",
      "1092\n",
      "SENSOR 4 1.03535256961 -1.66182916184\n",
      "\n",
      "num = \n",
      "1093\n",
      "SENSOR 5 3.32942750619 -2.89908305281\n",
      "\n",
      "num = \n",
      "1094\n",
      "ODOMETRY -6.00078729292e-05 0.100231170262 -0.197349468283\n",
      "\n",
      "num = \n",
      "1095\n",
      "SENSOR 4 1.23205472755 -1.61328765107\n",
      "\n",
      "num = \n",
      "1096\n",
      "SENSOR 5 3.58883871764 -2.79036998463\n",
      "\n",
      "num = \n",
      "1097\n",
      "ODOMETRY 0.000778944546602 0.0997443640523 -0.196805293229\n",
      "\n",
      "num = \n",
      "1098\n",
      "SENSOR 4 0.980807526601 -1.37607808602\n",
      "\n",
      "num = \n",
      "1099\n",
      "SENSOR 5 3.44799435666 -2.62665666687\n",
      "\n",
      "num = \n",
      "1100\n",
      "ODOMETRY -0.000368902911915 0.100159655151 -0.19959086214\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1101\n",
      "SENSOR 4 1.30954404554 -1.43176636885\n",
      "\n",
      "num = \n",
      "1102\n",
      "SENSOR 5 3.51128233361 -2.49583044536\n",
      "\n",
      "num = \n",
      "1103\n",
      "ODOMETRY 0.000875408598912 0.10049913959 -0.198612822628\n",
      "\n",
      "num = \n",
      "1104\n",
      "SENSOR 4 0.953865121238 -1.2816545328\n",
      "\n",
      "num = \n",
      "1105\n",
      "SENSOR 5 3.75050538274 -2.21025810438\n",
      "\n",
      "num = \n",
      "1106\n",
      "ODOMETRY 0.000643301288042 0.0998677942291 -0.202643646401\n",
      "\n",
      "num = \n",
      "1107\n",
      "SENSOR 4 0.937678468196 -1.17091065111\n",
      "\n",
      "num = \n",
      "1108\n",
      "SENSOR 5 3.86489395394 -1.98135942803\n",
      "\n",
      "num = \n",
      "1109\n",
      "ODOMETRY -0.000515670443917 0.100048418713 -0.201085070412\n",
      "\n",
      "num = \n",
      "1110\n",
      "SENSOR 4 1.03088856231 -1.02236401255\n",
      "\n",
      "num = \n",
      "1111\n",
      "SENSOR 5 3.61390947737 -1.83253751296\n",
      "\n",
      "num = \n",
      "1112\n",
      "ODOMETRY -0.00070658966091 0.0999211581655 -0.201215641668\n",
      "\n",
      "num = \n",
      "1113\n",
      "SENSOR 8 4.85461136115 -0.441193806736\n",
      "\n",
      "num = \n",
      "1114\n",
      "SENSOR 4 1.05741780526 -0.941454125061\n",
      "\n",
      "num = \n",
      "1115\n",
      "SENSOR 5 3.87262435523 -1.67878747955\n",
      "\n",
      "num = \n",
      "1116\n",
      "ODOMETRY -0.000453651906009 0.100058053226 -0.0495339656427\n",
      "\n",
      "num = \n",
      "1117\n",
      "SENSOR 8 4.91108468826 -0.314178952957\n",
      "\n",
      "num = \n",
      "1118\n",
      "SENSOR 4 0.889803683381 -0.862587924879\n",
      "\n",
      "num = \n",
      "1119\n",
      "SENSOR 5 4.001907275 -1.75368141539\n",
      "\n",
      "num = \n",
      "1120\n",
      "ODOMETRY -0.000374433876798 0.0999632649737 0.000227424570168\n",
      "\n",
      "num = \n",
      "1121\n",
      "SENSOR 8 4.89607963687 -0.383905377422\n",
      "\n",
      "num = \n",
      "1122\n",
      "SENSOR 4 1.03529311279 -1.08642084347\n",
      "\n",
      "num = \n",
      "1123\n",
      "SENSOR 5 3.6950450598 -1.62958875652\n",
      "\n",
      "num = \n",
      "1124\n",
      "ODOMETRY 0.000560387911335 0.100022258169 -0.000690144025918\n",
      "\n",
      "num = \n",
      "1125\n",
      "SENSOR 8 4.77811944922 -0.344660362116\n",
      "\n",
      "num = \n",
      "1126\n",
      "SENSOR 4 0.6835522748 -1.12873248686\n",
      "\n",
      "num = \n",
      "1127\n",
      "SENSOR 5 3.73078201728 -1.73731680832\n",
      "\n",
      "num = \n",
      "1128\n",
      "ODOMETRY 0.000302602191039 0.0999189321218 -0.000444970990895\n",
      "\n",
      "num = \n",
      "1129\n",
      "SENSOR 8 4.69613208187 -0.387130423206\n",
      "\n",
      "num = \n",
      "1130\n",
      "SENSOR 4 0.787992521116 -1.29156833847\n",
      "\n",
      "num = \n",
      "1131\n",
      "SENSOR 5 3.83067456717 -1.73774870776\n",
      "\n",
      "num = \n",
      "1132\n",
      "ODOMETRY 0.00033245853007 0.099983722446 3.29125408185e-05\n",
      "\n",
      "num = \n",
      "1133\n",
      "SENSOR 8 4.43987229987 -0.336598652401\n",
      "\n",
      "num = \n",
      "1134\n",
      "SENSOR 4 0.824851032983 -1.37173579521\n",
      "\n",
      "num = \n",
      "1135\n",
      "SENSOR 5 3.9011475333 -1.83111676621\n",
      "\n",
      "num = \n",
      "1136\n",
      "ODOMETRY 0.0003202499917 0.0998020171825 -0.000105496843961\n",
      "\n",
      "num = \n",
      "1137\n",
      "SENSOR 8 4.2295439355 -0.31030833621\n",
      "\n",
      "num = \n",
      "1138\n",
      "SENSOR 4 0.562121580647 -1.48855015673\n",
      "\n",
      "num = \n",
      "1139\n",
      "SENSOR 5 4.05047851622 -1.85523162918\n",
      "\n",
      "num = \n",
      "1140\n",
      "ODOMETRY -0.00100295830048 0.100070287738 -0.000357513844835\n",
      "\n",
      "num = \n",
      "1141\n",
      "SENSOR 8 4.14141953883 -0.401434359312\n",
      "\n",
      "num = \n",
      "1142\n",
      "SENSOR 4 0.698270524653 -1.66266898697\n",
      "\n",
      "num = \n",
      "1143\n",
      "SENSOR 5 4.02646711957 -1.85655804032\n",
      "\n",
      "num = \n",
      "1144\n",
      "ODOMETRY -0.000188063237756 0.0999460648438 -0.000367434508236\n",
      "\n",
      "num = \n",
      "1145\n",
      "SENSOR 8 4.49059154755 -0.359642792629\n",
      "\n",
      "num = \n",
      "1146\n",
      "SENSOR 4 0.829352455695 -1.82738715515\n",
      "\n",
      "num = \n",
      "1147\n",
      "SENSOR 5 3.9198043194 -1.85847185083\n",
      "\n",
      "num = \n",
      "1148\n",
      "ODOMETRY 0.000145108773369 0.0999890308492 -0.0008287350519\n",
      "\n",
      "num = \n",
      "1149\n",
      "SENSOR 8 4.0305518916 -0.410490083997\n",
      "\n",
      "num = \n",
      "1150\n",
      "SENSOR 4 0.73104561841 -1.91623346334\n",
      "\n",
      "num = \n",
      "1151\n",
      "SENSOR 5 3.95455389546 -1.81930736734\n",
      "\n",
      "num = \n",
      "1152\n",
      "ODOMETRY 0.000317286436698 0.0999382739112 -0.000139268224043\n",
      "\n",
      "num = \n",
      "1153\n",
      "SENSOR 8 3.94074309758 -0.449033720052\n",
      "\n",
      "num = \n",
      "1154\n",
      "SENSOR 4 0.964327453377 -2.01100457015\n",
      "\n",
      "num = \n",
      "1155\n",
      "SENSOR 5 4.12377150794 -1.90702070002\n",
      "\n",
      "num = \n",
      "1156\n",
      "ODOMETRY -0.000489035127382 0.10010816554 -0.000185002568801\n",
      "\n",
      "num = \n",
      "1157\n",
      "SENSOR 8 3.91534330666 -0.437399649948\n",
      "\n",
      "num = \n",
      "1158\n",
      "SENSOR 4 0.962844439912 -2.09903655675\n",
      "\n",
      "num = \n",
      "1159\n",
      "SENSOR 5 4.0517244807 -1.90944618344\n",
      "\n",
      "num = \n",
      "1160\n",
      "ODOMETRY -0.000448212051337 0.100133168601 -0.0012892610486\n",
      "\n",
      "num = \n",
      "1161\n",
      "SENSOR 8 3.8900635959 -0.450094707651\n",
      "\n",
      "num = \n",
      "1162\n",
      "SENSOR 4 1.15499811144 -2.14063500493\n",
      "\n",
      "num = \n",
      "1163\n",
      "SENSOR 5 4.15361685125 -1.97034676565\n",
      "\n",
      "num = \n",
      "1164\n",
      "ODOMETRY -0.000333404857971 0.0999912335863 0.000192681272112\n",
      "\n",
      "num = \n",
      "1165\n",
      "SENSOR 8 3.77038644114 -0.564054467112\n",
      "\n",
      "num = \n",
      "1166\n",
      "SENSOR 4 0.97476218836 -2.24080497152\n",
      "\n",
      "num = \n",
      "1167\n",
      "SENSOR 5 4.17413980453 -1.93610976395\n",
      "\n",
      "num = \n",
      "1168\n",
      "ODOMETRY 0.000116797154257 0.100137172993 -0.000390404927584\n",
      "\n",
      "num = \n",
      "1169\n",
      "SENSOR 8 3.63226086454 -0.540987639383\n",
      "\n",
      "num = \n",
      "1170\n",
      "SENSOR 4 1.10417906905 -2.38354517123\n",
      "\n",
      "num = \n",
      "1171\n",
      "SENSOR 5 4.30329593999 -2.0340943866\n",
      "\n",
      "num = \n",
      "1172\n",
      "SENSOR 7 4.94033277705 -0.757833609985\n",
      "\n",
      "num = \n",
      "1173\n",
      "ODOMETRY -0.000590074857926 0.0999133906589 -0.000728548241666\n",
      "\n",
      "num = \n",
      "1174\n",
      "SENSOR 8 3.48279289223 -0.442671033673\n",
      "\n",
      "num = \n",
      "1175\n",
      "SENSOR 4 1.21367576112 -2.38923397243\n",
      "\n",
      "num = \n",
      "1176\n",
      "SENSOR 5 4.11351339144 -2.12124027897\n",
      "\n",
      "num = \n",
      "1177\n",
      "SENSOR 7 4.9471083243 -0.863368530901\n",
      "\n",
      "num = \n",
      "1178\n",
      "ODOMETRY 0.000666027634388 0.0999961749585 -0.00041098921494\n",
      "\n",
      "num = \n",
      "1179\n",
      "SENSOR 8 3.31329949365 -0.442208158787\n",
      "\n",
      "num = \n",
      "1180\n",
      "SENSOR 4 1.14087202904 -2.42970915883\n",
      "\n",
      "num = \n",
      "1181\n",
      "SENSOR 5 4.28986062879 -2.13951007973\n",
      "\n",
      "num = \n",
      "1182\n",
      "SENSOR 7 4.50725975692 -0.916450378366\n",
      "\n",
      "num = \n",
      "1183\n",
      "ODOMETRY 0.000123003750952 0.0998768096926 -0.000338091992771\n",
      "\n",
      "num = \n",
      "1184\n",
      "SENSOR 8 3.58031102591 -0.631152189894\n",
      "\n",
      "num = \n",
      "1185\n",
      "SENSOR 4 1.28631748205 -2.52280355497\n",
      "\n",
      "num = \n",
      "1186\n",
      "SENSOR 5 4.29694827231 -2.13689954352\n",
      "\n",
      "num = \n",
      "1187\n",
      "SENSOR 7 4.75408087282 -0.865684520747\n",
      "\n",
      "num = \n",
      "1188\n",
      "ODOMETRY -0.000346457382135 0.100082898443 0.000286890929699\n",
      "\n",
      "num = \n",
      "1189\n",
      "SENSOR 8 3.24455116705 -0.576310948619\n",
      "\n",
      "num = \n",
      "1190\n",
      "SENSOR 4 1.27283382282 -2.55880342549\n",
      "\n",
      "num = \n",
      "1191\n",
      "SENSOR 5 4.41483458904 -2.05309918925\n",
      "\n",
      "num = \n",
      "1192\n",
      "SENSOR 7 4.63121738461 -0.874521274014\n",
      "\n",
      "num = \n",
      "1193\n",
      "ODOMETRY -0.000955326333333 0.100096022413 -0.000648521461897\n",
      "\n",
      "num = \n",
      "1194\n",
      "SENSOR 8 3.24825762533 -0.599421325277\n",
      "\n",
      "num = \n",
      "1195\n",
      "SENSOR 4 1.50961115908 -2.52257610457\n",
      "\n",
      "num = \n",
      "1196\n",
      "SENSOR 5 4.51886453403 -2.10172063614\n",
      "\n",
      "num = \n",
      "1197\n",
      "SENSOR 7 4.67172096933 -0.894687907489\n",
      "\n",
      "num = \n",
      "1198\n",
      "ODOMETRY 0.000425896177498 0.100141662167 0.000472712559654\n",
      "\n",
      "num = \n",
      "1199\n",
      "SENSOR 8 3.23972718873 -0.58466657353\n",
      "\n",
      "num = \n",
      "1200\n",
      "SENSOR 4 1.74083901202 -2.64636281352\n",
      "\n",
      "num = \n",
      "1201\n",
      "SENSOR 5 4.36236644466 -2.15541169775\n",
      "\n",
      "num = \n",
      "1202\n",
      "SENSOR 7 4.54743703627 -0.983253835746\n",
      "\n",
      "num = \n",
      "1203\n",
      "ODOMETRY 0.000431170979157 0.100025186646 -9.68768691897e-05\n",
      "\n",
      "num = \n",
      "1204\n",
      "SENSOR 8 2.94713147949 -0.538730214309\n",
      "\n",
      "num = \n",
      "1205\n",
      "SENSOR 4 1.59532499948 -2.64189895638\n",
      "\n",
      "num = \n",
      "1206\n",
      "SENSOR 5 4.3940471103 -2.19522353029\n",
      "\n",
      "num = \n",
      "1207\n",
      "SENSOR 7 4.58101568205 -0.938466709816\n",
      "\n",
      "num = \n",
      "1208\n",
      "ODOMETRY -0.00126089300156 0.100003408847 -0.000253955323998\n",
      "\n",
      "num = \n",
      "1209\n",
      "SENSOR 8 3.01049631895 -0.647455670209\n",
      "\n",
      "num = \n",
      "1210\n",
      "SENSOR 4 1.74223188952 -2.64154107534\n",
      "\n",
      "num = \n",
      "1211\n",
      "SENSOR 5 4.6784242394 -2.17124070517\n",
      "\n",
      "num = \n",
      "1212\n",
      "SENSOR 7 4.2652733295 -0.996316702854\n",
      "\n",
      "num = \n",
      "1213\n",
      "ODOMETRY -0.000120654780893 0.0999758007847 -7.69033417334e-05\n",
      "\n",
      "num = \n",
      "1214\n",
      "SENSOR 8 2.81105029309 -0.668553762428\n",
      "\n",
      "num = \n",
      "1215\n",
      "SENSOR 4 1.84304791933 -2.65607644439\n",
      "\n",
      "num = \n",
      "1216\n",
      "SENSOR 5 4.63624935942 -2.13548023805\n",
      "\n",
      "num = \n",
      "1217\n",
      "SENSOR 7 4.52016763586 -0.991018307807\n",
      "\n",
      "num = \n",
      "1218\n",
      "ODOMETRY 0.000189591679111 0.100086348204 -0.000323351005088\n",
      "\n",
      "num = \n",
      "1219\n",
      "SENSOR 8 2.93905607509 -0.585176239548\n",
      "\n",
      "num = \n",
      "1220\n",
      "SENSOR 4 2.0438034489 -2.72800462462\n",
      "\n",
      "num = \n",
      "1221\n",
      "SENSOR 5 4.52648542497 -2.21078238898\n",
      "\n",
      "num = \n",
      "1222\n",
      "SENSOR 7 4.18292097158 -1.01609850061\n",
      "\n",
      "num = \n",
      "1223\n",
      "ODOMETRY -0.000473674854813 0.10002979275 -7.07593512027e-05\n",
      "\n",
      "num = \n",
      "1224\n",
      "SENSOR 8 2.78937751626 -0.681683822875\n",
      "\n",
      "num = \n",
      "1225\n",
      "SENSOR 4 1.99021011507 -2.71901554183\n",
      "\n",
      "num = \n",
      "1226\n",
      "SENSOR 5 4.86030610026 -2.19809066259\n",
      "\n",
      "num = \n",
      "1227\n",
      "SENSOR 7 4.08317192213 -1.06263343315\n",
      "\n",
      "num = \n",
      "1228\n",
      "ODOMETRY -0.000361318872101 0.0998516170993 -0.000310786635761\n",
      "\n",
      "num = \n",
      "1229\n",
      "SENSOR 8 2.73109069077 -0.664414233072\n",
      "\n",
      "num = \n",
      "1230\n",
      "SENSOR 4 2.02095934862 -2.77281077247\n",
      "\n",
      "num = \n",
      "1231\n",
      "SENSOR 5 4.87996286947 -2.20004470209\n",
      "\n",
      "num = \n",
      "1232\n",
      "SENSOR 7 4.22842676961 -1.08754115393\n",
      "\n",
      "num = \n",
      "1233\n",
      "ODOMETRY -0.000269192638065 0.100069154562 0.000122327434553\n",
      "\n",
      "num = \n",
      "1234\n",
      "SENSOR 8 2.66996787215 -0.741197858346\n",
      "\n",
      "num = \n",
      "1235\n",
      "SENSOR 1 4.92781804914 0.165464879583\n",
      "\n",
      "num = \n",
      "1236\n",
      "SENSOR 4 2.28452084059 -2.79103144813\n",
      "\n",
      "num = \n",
      "1237\n",
      "SENSOR 5 4.76222916544 -2.3384152959\n",
      "\n",
      "num = \n",
      "1238\n",
      "SENSOR 7 4.19121425588 -1.02506412666\n",
      "\n",
      "num = \n",
      "1239\n",
      "ODOMETRY 0.000939233063028 0.099978524037 0.000685447903704\n",
      "\n",
      "num = \n",
      "1240\n",
      "SENSOR 8 2.51553389791 -0.634533883027\n",
      "\n",
      "num = \n",
      "1241\n",
      "SENSOR 1 4.82706330783 0.0213662625167\n",
      "\n",
      "num = \n",
      "1242\n",
      "SENSOR 4 2.37505836382 -2.78320616069\n",
      "\n",
      "num = \n",
      "1243\n",
      "SENSOR 5 4.99415607057 -2.22355221099\n",
      "\n",
      "num = \n",
      "1244\n",
      "SENSOR 7 3.97703512937 -1.08364781079\n",
      "\n",
      "num = \n",
      "1245\n",
      "ODOMETRY -6.77419651127e-05 0.100140978268 -0.000135987996048\n",
      "\n",
      "num = \n",
      "1246\n",
      "SENSOR 8 2.23340888122 -0.783411064361\n",
      "\n",
      "num = \n",
      "1247\n",
      "SENSOR 1 4.76673370222 -0.00223170351281\n",
      "\n",
      "num = \n",
      "1248\n",
      "SENSOR 4 2.44121554947 -2.76116600902\n",
      "\n",
      "num = \n",
      "1249\n",
      "SENSOR 5 4.814470924 -2.31902709448\n",
      "\n",
      "num = \n",
      "1250\n",
      "SENSOR 7 4.04347080517 -1.14617801134\n",
      "\n",
      "num = \n",
      "1251\n",
      "ODOMETRY 0.00048886726123 0.100041297815 0.000679022990554\n",
      "\n",
      "num = \n",
      "1252\n",
      "SENSOR 8 2.30974435417 -0.73023844975\n",
      "\n",
      "num = \n",
      "1253\n",
      "SENSOR 1 4.628923258 0.0668774699138\n",
      "\n",
      "num = \n",
      "1254\n",
      "SENSOR 4 2.33202866839 -2.80658070702\n",
      "\n",
      "num = \n",
      "1255\n",
      "SENSOR 7 4.1171835927 -1.18735408115\n",
      "\n",
      "num = \n",
      "1256\n",
      "ODOMETRY -0.000763316825852 0.0998626212511 2.71380464145e-05\n",
      "\n",
      "num = \n",
      "1257\n",
      "SENSOR 8 2.30957175125 -0.879774630027\n",
      "\n",
      "num = \n",
      "1258\n",
      "SENSOR 1 4.47241468075 0.112481627522\n",
      "\n",
      "num = \n",
      "1259\n",
      "SENSOR 4 2.67200407606 -2.88213261922\n",
      "\n",
      "num = \n",
      "1260\n",
      "SENSOR 7 4.13385546866 -1.15907658911\n",
      "\n",
      "num = \n",
      "1261\n",
      "ODOMETRY 0.00049292915547 0.0998636041901 -0.000379476978871\n",
      "\n",
      "num = \n",
      "1262\n",
      "SENSOR 8 2.36124708193 -0.870145768712\n",
      "\n",
      "num = \n",
      "1263\n",
      "SENSOR 1 4.38735357247 0.0955180040226\n",
      "\n",
      "num = \n",
      "1264\n",
      "SENSOR 4 2.65985478012 -2.84310942138\n",
      "\n",
      "num = \n",
      "1265\n",
      "SENSOR 7 3.81181745959 -1.20782384771\n",
      "\n",
      "num = \n",
      "1266\n",
      "ODOMETRY 0.00033110801736 0.100044850743 -0.000577153724803\n",
      "\n",
      "num = \n",
      "1267\n",
      "SENSOR 8 2.41743004232 -0.864072811384\n",
      "\n",
      "num = \n",
      "1268\n",
      "SENSOR 1 4.40194504238 0.0658008097918\n",
      "\n",
      "num = \n",
      "1269\n",
      "SENSOR 4 2.94567913337 -2.88562727445\n",
      "\n",
      "num = \n",
      "1270\n",
      "SENSOR 7 3.82544464355 -1.2516790519\n",
      "\n",
      "num = \n",
      "1271\n",
      "ODOMETRY -0.000308672136194 0.0998384881725 2.64214654053e-05\n",
      "\n",
      "num = \n",
      "1272\n",
      "SENSOR 8 1.919908976 -0.934813972655\n",
      "\n",
      "num = \n",
      "1273\n",
      "SENSOR 1 4.19345581376 0.0757952107782\n",
      "\n",
      "num = \n",
      "1274\n",
      "SENSOR 4 2.94440761406 -2.83450142815\n",
      "\n",
      "num = \n",
      "1275\n",
      "SENSOR 7 3.92107607518 -1.15208824306\n",
      "\n",
      "num = \n",
      "1276\n",
      "ODOMETRY 5.25016195751e-05 0.0999941288634 0.000406623957959\n",
      "\n",
      "num = \n",
      "1277\n",
      "SENSOR 8 1.9832859543 -0.98442650848\n",
      "\n",
      "num = \n",
      "1278\n",
      "SENSOR 1 4.09215025882 0.0717523426929\n",
      "\n",
      "num = \n",
      "1279\n",
      "SENSOR 4 3.05636372159 -2.93752404177\n",
      "\n",
      "num = \n",
      "1280\n",
      "SENSOR 7 3.89565529492 -1.28776086607\n",
      "\n",
      "num = \n",
      "1281\n",
      "ODOMETRY -0.000273197315602 0.0998069485111 -0.000285894067554\n",
      "\n",
      "num = \n",
      "1282\n",
      "SENSOR 8 2.12296121839 -1.02645711564\n",
      "\n",
      "num = \n",
      "1283\n",
      "SENSOR 1 4.1786687521 0.0497541354582\n",
      "\n",
      "num = \n",
      "1284\n",
      "SENSOR 4 3.22093748114 -2.82397420009\n",
      "\n",
      "num = \n",
      "1285\n",
      "SENSOR 7 3.97449556221 -1.29780080623\n",
      "\n",
      "num = \n",
      "1286\n",
      "ODOMETRY -0.000265608833175 0.100026175106 0.000137251905213\n",
      "\n",
      "num = \n",
      "1287\n",
      "SENSOR 8 2.05703216981 -1.00685667222\n",
      "\n",
      "num = \n",
      "1288\n",
      "SENSOR 1 3.94149875624 0.140569733461\n",
      "\n",
      "num = \n",
      "1289\n",
      "SENSOR 4 3.13725363665 -2.87162377088\n",
      "\n",
      "num = \n",
      "1290\n",
      "SENSOR 7 3.76919105935 -1.28829235854\n",
      "\n",
      "num = \n",
      "1291\n",
      "ODOMETRY 0.000720910278101 0.100023575271 -0.000251711733041\n",
      "\n",
      "num = \n",
      "1292\n",
      "SENSOR 8 1.81579376561 -1.08266616382\n",
      "\n",
      "num = \n",
      "1293\n",
      "SENSOR 1 3.67093999662 0.0393555510994\n",
      "\n",
      "num = \n",
      "1294\n",
      "SENSOR 4 3.34596406803 -2.97433102412\n",
      "\n",
      "num = \n",
      "1295\n",
      "SENSOR 7 3.90187420479 -1.31346748714\n",
      "\n",
      "num = \n",
      "1296\n",
      "ODOMETRY 0.000105339136838 0.099882486807 0.000711003741797\n",
      "\n",
      "num = \n",
      "1297\n",
      "SENSOR 8 1.81140030994 -1.14228995915\n",
      "\n",
      "num = \n",
      "1298\n",
      "SENSOR 1 3.8261635831 0.054006173831\n",
      "\n",
      "num = \n",
      "1299\n",
      "SENSOR 4 3.4796093187 -2.98658709002\n",
      "\n",
      "num = \n",
      "1300\n",
      "SENSOR 7 3.82419437586 -1.32957085243\n",
      "\n",
      "num = \n",
      "1301\n",
      "ODOMETRY -7.64579991343e-05 0.0997922673878 -0.000288040106145\n",
      "\n",
      "num = \n",
      "1302\n",
      "SENSOR 8 1.97927232141 -1.27560024901\n",
      "\n",
      "num = \n",
      "1303\n",
      "SENSOR 1 3.72258806814 0.161210114162\n",
      "\n",
      "num = \n",
      "1304\n",
      "SENSOR 4 3.3133245266 -2.89891758969\n",
      "\n",
      "num = \n",
      "1305\n",
      "SENSOR 7 3.81183963458 -1.32175712764\n",
      "\n",
      "num = \n",
      "1306\n",
      "ODOMETRY 0.000385928532719 0.0996806600309 -0.200347125045\n",
      "\n",
      "num = \n",
      "1307\n",
      "SENSOR 8 1.71109074699 -1.02714696631\n",
      "\n",
      "num = \n",
      "1308\n",
      "SENSOR 1 3.47474230224 0.283685656426\n",
      "\n",
      "num = \n",
      "1309\n",
      "SENSOR 4 3.49665186449 -2.71608754934\n",
      "\n",
      "num = \n",
      "1310\n",
      "SENSOR 7 3.86100523492 -1.24660856692\n",
      "\n",
      "num = \n",
      "1311\n",
      "ODOMETRY 1.18794066805e-06 0.0997733761035 -0.199977592699\n",
      "\n",
      "num = \n",
      "1312\n",
      "SENSOR 8 1.7913022851 -0.988844108691\n",
      "\n",
      "num = \n",
      "1313\n",
      "SENSOR 1 3.3603196986 0.438921773545\n",
      "\n",
      "num = \n",
      "1314\n",
      "SENSOR 4 3.59460143268 -2.4995361102\n",
      "\n",
      "num = \n",
      "1315\n",
      "SENSOR 7 3.6769689176 -1.0092059111\n",
      "\n",
      "num = \n",
      "1316\n",
      "ODOMETRY -0.000816556751862 0.0997465372851 -0.202314638633\n",
      "\n",
      "num = \n",
      "1317\n",
      "SENSOR 8 1.72700243897 -0.727469713931\n",
      "\n",
      "num = \n",
      "1318\n",
      "SENSOR 1 3.41603446384 0.795914407086\n",
      "\n",
      "num = \n",
      "1319\n",
      "SENSOR 4 3.74498201327 -2.35790495186\n",
      "\n",
      "num = \n",
      "1320\n",
      "SENSOR 7 3.65858016772 -0.852210047465\n",
      "\n",
      "num = \n",
      "1321\n",
      "ODOMETRY -0.00017107666944 0.100202752156 -0.199982427928\n",
      "\n",
      "num = \n",
      "1322\n",
      "SENSOR 8 1.59030504807 -0.562457859173\n",
      "\n",
      "num = \n",
      "1323\n",
      "SENSOR 1 3.26977624121 1.02025691453\n",
      "\n",
      "num = \n",
      "1324\n",
      "SENSOR 4 3.98177703193 -2.11166828345\n",
      "\n",
      "num = \n",
      "1325\n",
      "SENSOR 7 3.60670130028 -0.68064217983\n",
      "\n",
      "num = \n",
      "1326\n",
      "ODOMETRY 0.000590926276013 0.100545969921 -0.199693808091\n",
      "\n",
      "num = \n",
      "1327\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "SENSOR 8 1.42956896486 -0.405210773852\n",
      "\n",
      "num = \n",
      "1328\n",
      "SENSOR 1 3.11530262765 1.08617098938\n",
      "\n",
      "num = \n",
      "1329\n",
      "SENSOR 4 3.75792044617 -1.94960186471\n",
      "\n",
      "num = \n",
      "1330\n",
      "SENSOR 7 3.44632621596 -0.561375582074\n",
      "\n",
      "num = \n",
      "1331\n",
      "ODOMETRY -0.000298257136816 0.0996631664365 -0.198915852019\n",
      "\n",
      "num = \n",
      "1332\n",
      "SENSOR 8 1.41119753152 -0.218291775829\n",
      "\n",
      "num = \n",
      "1333\n",
      "SENSOR 1 3.14171978452 1.37417197214\n",
      "\n",
      "num = \n",
      "1334\n",
      "SENSOR 4 3.97964357546 -1.84339806385\n",
      "\n",
      "num = \n",
      "1335\n",
      "SENSOR 7 3.37769084878 -0.326486102096\n",
      "\n",
      "num = \n",
      "1336\n",
      "ODOMETRY -0.000223643982462 0.0996312038275 -0.2025564277\n",
      "\n",
      "num = \n",
      "1337\n",
      "SENSOR 8 1.25280389716 -0.0478523885333\n",
      "\n",
      "num = \n",
      "1338\n",
      "SENSOR 1 3.28031792034 1.55461890617\n",
      "\n",
      "num = \n",
      "1339\n",
      "SENSOR 4 3.96871903979 -1.63320364602\n",
      "\n",
      "num = \n",
      "1340\n",
      "SENSOR 7 3.38773338161 -0.165645510408\n",
      "\n",
      "num = \n",
      "1341\n",
      "ODOMETRY -0.000881424513507 0.0999464043441 -0.148617707433\n",
      "\n",
      "num = \n",
      "1342\n",
      "SENSOR 8 1.21794802013 0.101499246355\n",
      "\n",
      "num = \n",
      "1343\n",
      "SENSOR 1 3.22237509743 1.79072716463\n",
      "\n",
      "num = \n",
      "1344\n",
      "SENSOR 4 3.95617109814 -1.44625205115\n",
      "\n",
      "num = \n",
      "1345\n",
      "SENSOR 7 3.44736574276 0.0259459077986\n",
      "\n",
      "num = \n",
      "1346\n",
      "ODOMETRY 6.73076006284e-05 0.100132073471 -0.000119445516902\n",
      "\n",
      "num = \n",
      "1347\n",
      "SENSOR 8 1.10085634846 0.0128641004662\n",
      "\n",
      "num = \n",
      "1348\n",
      "SENSOR 1 3.15319314656 1.83602899903\n",
      "\n",
      "num = \n",
      "1349\n",
      "SENSOR 4 3.96197077783 -1.56149331217\n",
      "\n",
      "num = \n",
      "1350\n",
      "SENSOR 7 3.16144997508 0.0497659131117\n",
      "\n",
      "num = \n",
      "1351\n",
      "ODOMETRY 0.000216898596734 0.100008870944 8.44491124946e-05\n",
      "\n",
      "num = \n",
      "1352\n",
      "SENSOR 8 0.98718385021 0.0505647532356\n",
      "\n",
      "num = \n",
      "1353\n",
      "SENSOR 1 3.44793567727 1.89256285855\n",
      "\n",
      "num = \n",
      "1354\n",
      "SENSOR 4 3.92237270173 -1.60631882591\n",
      "\n",
      "num = \n",
      "1355\n",
      "SENSOR 7 3.21973581934 -0.0340907108888\n",
      "\n",
      "num = \n",
      "1356\n",
      "ODOMETRY 0.000128009797301 0.100043460223 0.000987839174826\n",
      "\n",
      "num = \n",
      "1357\n",
      "SENSOR 8 0.89829332316 0.135383956612\n",
      "\n",
      "num = \n",
      "1358\n",
      "SENSOR 1 3.27245387945 1.88010743562\n",
      "\n",
      "num = \n",
      "1359\n",
      "SENSOR 4 3.96502932983 -1.56994091616\n",
      "\n",
      "num = \n",
      "1360\n",
      "SENSOR 7 2.97710577284 0.0715555315754\n",
      "\n",
      "num = \n",
      "1361\n",
      "ODOMETRY -0.000150318169053 0.100071664514 0.000144679939358\n",
      "\n",
      "num = \n",
      "1362\n",
      "SENSOR 8 0.774339649168 -0.000516516086974\n",
      "\n",
      "num = \n",
      "1363\n",
      "SENSOR 1 3.48116649203 1.98621024178\n",
      "\n",
      "num = \n",
      "1364\n",
      "SENSOR 4 3.85294043277 -1.65568756419\n",
      "\n",
      "num = \n",
      "1365\n",
      "SENSOR 7 2.90643136834 0.027023615806\n",
      "\n",
      "num = \n",
      "1366\n",
      "ODOMETRY -0.000465690711615 0.100017674194 -0.000142742436314\n",
      "\n",
      "num = \n",
      "1367\n",
      "SENSOR 8 0.527252645966 0.172607270039\n",
      "\n",
      "num = \n",
      "1368\n",
      "SENSOR 1 3.3814040867 1.97634147246\n",
      "\n",
      "num = \n",
      "1369\n",
      "SENSOR 4 4.10861734812 -1.59369624478\n",
      "\n",
      "num = \n",
      "1370\n",
      "SENSOR 7 2.76353072157 0.00840562337829\n",
      "\n",
      "num = \n",
      "1371\n",
      "ODOMETRY -0.000128208315622 0.0999656883624 0.000594809485977\n",
      "\n",
      "num = \n",
      "1372\n",
      "SENSOR 8 0.687305913164 0.0798724661809\n",
      "\n",
      "num = \n",
      "1373\n",
      "SENSOR 1 3.21764284755 1.9744178959\n",
      "\n",
      "num = \n",
      "1374\n",
      "SENSOR 4 4.08919040605 -1.62141915547\n",
      "\n",
      "num = \n",
      "1375\n",
      "SENSOR 7 2.55473025478 0.0977268515407\n",
      "\n",
      "num = \n",
      "1376\n",
      "ODOMETRY 0.000821476656511 0.0999158037258 -0.00068566679204\n",
      "\n",
      "num = \n",
      "1377\n",
      "SENSOR 8 0.480616169488 0.139441754953\n",
      "\n",
      "num = \n",
      "1378\n",
      "SENSOR 1 3.45668051094 2.00189239553\n",
      "\n",
      "num = \n",
      "1379\n",
      "SENSOR 4 4.10524461182 -1.67981251381\n",
      "\n",
      "num = \n",
      "1380\n",
      "SENSOR 7 2.33739775251 0.0985219039275\n",
      "\n",
      "num = \n",
      "1381\n",
      "ODOMETRY 0.000455722461866 0.0999653812 -4.23758429747e-05\n",
      "\n",
      "num = \n",
      "1382\n",
      "SENSOR 8 0.400741221794 0.167751600491\n",
      "\n",
      "num = \n",
      "1383\n",
      "SENSOR 1 3.55108397687 2.05110783316\n",
      "\n",
      "num = \n",
      "1384\n",
      "SENSOR 4 4.06515935986 -1.72057455144\n",
      "\n",
      "num = \n",
      "1385\n",
      "SENSOR 7 2.50287051778 0.127838872546\n",
      "\n",
      "num = \n",
      "1386\n",
      "ODOMETRY 0.000100633095148 0.100219327349 0.000631070639127\n",
      "\n",
      "num = \n",
      "1387\n",
      "SENSOR 8 0.417382565095 0.188823271199\n",
      "\n",
      "num = \n",
      "1388\n",
      "SENSOR 1 3.35123641832 2.09116664517\n",
      "\n",
      "num = \n",
      "1389\n",
      "SENSOR 4 3.95754572184 -1.71268379099\n",
      "\n",
      "num = \n",
      "1390\n",
      "SENSOR 7 2.41072585607 0.122504676512\n",
      "\n",
      "num = \n",
      "1391\n",
      "ODOMETRY -0.000607763710215 0.100140453337 -0.000218697666427\n",
      "\n",
      "num = \n",
      "1392\n",
      "SENSOR 8 0.369346735302 0.271181092817\n",
      "\n",
      "num = \n",
      "1393\n",
      "SENSOR 1 3.67699620635 2.07721447415\n",
      "\n",
      "num = \n",
      "1394\n",
      "SENSOR 4 4.07710876539 -1.73456190265\n",
      "\n",
      "num = \n",
      "1395\n",
      "SENSOR 7 2.42576722134 -0.0138112591739\n",
      "\n",
      "num = \n",
      "1396\n",
      "ODOMETRY -0.000139407170528 0.0998511677938 0.000334065170192\n",
      "\n",
      "num = \n",
      "1397\n",
      "SENSOR 8 0.335693906267 0.462318775119\n",
      "\n",
      "num = \n",
      "1398\n",
      "SENSOR 1 3.54703844972 2.08539235736\n",
      "\n",
      "num = \n",
      "1399\n",
      "SENSOR 4 3.94824350404 -1.6777048794\n",
      "\n",
      "num = \n",
      "1400\n",
      "SENSOR 7 2.13297568426 0.0826896741318\n",
      "\n",
      "num = \n",
      "1401\n",
      "ODOMETRY -0.000628418701319 0.0999704949615 -0.000124838470818\n",
      "\n",
      "num = \n",
      "1402\n",
      "SENSOR 8 0.0237407258792 0.999084065632\n",
      "\n",
      "num = \n",
      "1403\n",
      "SENSOR 1 3.49005275028 2.05858832887\n",
      "\n",
      "num = \n",
      "1404\n",
      "SENSOR 4 4.07307706178 -1.72646904791\n",
      "\n",
      "num = \n",
      "1405\n",
      "SENSOR 7 2.07921259872 0.00213504582166\n",
      "\n",
      "num = \n",
      "1406\n",
      "ODOMETRY -9.78009794874e-05 0.100003974246 -0.00134217319887\n",
      "\n",
      "num = \n",
      "1407\n",
      "SENSOR 8 0.129747875719 2.20808064967\n",
      "\n",
      "num = \n",
      "1408\n",
      "SENSOR 1 3.82990788235 2.17088111054\n",
      "\n",
      "num = \n",
      "1409\n",
      "SENSOR 4 4.01274770551 -1.80022287123\n",
      "\n",
      "num = \n",
      "1410\n",
      "SENSOR 7 1.74885650734 -0.0121223549881\n",
      "\n",
      "num = \n",
      "1411\n",
      "ODOMETRY 0.000936885880489 0.0999064874362 0.000600172698976\n",
      "\n",
      "num = \n",
      "1412\n",
      "SENSOR 8 0.00599324163092 2.67223936752\n",
      "\n",
      "num = \n",
      "1413\n",
      "SENSOR 1 3.82421795548 2.19552984414\n",
      "\n",
      "num = \n",
      "1414\n",
      "SENSOR 3 4.79851180987 0.60594351723\n",
      "\n",
      "num = \n",
      "1415\n",
      "SENSOR 4 4.05133471121 -1.81575940442\n",
      "\n",
      "num = \n",
      "1416\n",
      "SENSOR 7 1.85931144483 0.164227994673\n",
      "\n",
      "num = \n",
      "1417\n",
      "ODOMETRY -0.000253202498002 0.10008722051 0.000209063753791\n",
      "\n",
      "num = \n",
      "1418\n",
      "SENSOR 8 0.355098876696 2.89500927945\n",
      "\n",
      "num = \n",
      "1419\n",
      "SENSOR 1 3.90659962847 2.1333112384\n",
      "\n",
      "num = \n",
      "1420\n",
      "SENSOR 3 4.81068150996 0.62679112096\n",
      "\n",
      "num = \n",
      "1421\n",
      "SENSOR 4 4.09111006731 -1.88931307412\n",
      "\n",
      "num = \n",
      "1422\n",
      "SENSOR 7 1.79380510621 -0.0357020447254\n",
      "\n",
      "num = \n",
      "1423\n",
      "ODOMETRY 0.000157129099918 0.100032988722 -0.000729862285518\n",
      "\n",
      "num = \n",
      "1424\n",
      "SENSOR 8 0.310596091371 2.80972354331\n",
      "\n",
      "num = \n",
      "1425\n",
      "SENSOR 1 3.70515903504 2.23033190653\n",
      "\n",
      "num = \n",
      "1426\n",
      "SENSOR 3 4.65126987644 0.73166186817\n",
      "\n",
      "num = \n",
      "1427\n",
      "SENSOR 4 4.23935852045 -1.93054147639\n",
      "\n",
      "num = \n",
      "1428\n",
      "SENSOR 7 1.76174667646 0.0262704139452\n",
      "\n",
      "num = \n",
      "1429\n",
      "ODOMETRY -0.000548408308394 0.0999919238562 -0.000250033911117\n",
      "\n",
      "num = \n",
      "1430\n",
      "SENSOR 8 0.672273832166 3.01287570212\n",
      "\n",
      "num = \n",
      "1431\n",
      "SENSOR 1 3.82284974892 2.26851849591\n",
      "\n",
      "num = \n",
      "1432\n",
      "SENSOR 3 4.66661981658 0.750783246804\n",
      "\n",
      "num = \n",
      "1433\n",
      "SENSOR 4 4.20611841782 -1.87591401282\n",
      "\n",
      "num = \n",
      "1434\n",
      "SENSOR 7 1.65083446213 -0.10214389997\n",
      "\n",
      "num = \n",
      "1435\n",
      "ODOMETRY -0.000371751330884 0.0999313796848 0.000860224474773\n",
      "\n",
      "num = \n",
      "1436\n",
      "SENSOR 8 0.556611108037 3.00403808456\n",
      "\n",
      "num = \n",
      "1437\n",
      "SENSOR 1 4.07609954779 2.29923731693\n",
      "\n",
      "num = \n",
      "1438\n",
      "SENSOR 3 4.61268174855 0.746177069223\n",
      "\n",
      "num = \n",
      "1439\n",
      "SENSOR 4 4.26511409215 -1.93342631232\n",
      "\n",
      "num = \n",
      "1440\n",
      "SENSOR 7 1.5749019735 0.109768246387\n",
      "\n",
      "num = \n",
      "1441\n",
      "ODOMETRY 2.93556084258e-05 0.100060189388 0.00098238378032\n",
      "\n",
      "num = \n",
      "1442\n",
      "SENSOR 8 0.731212089539 3.13442910945\n",
      "\n",
      "num = \n",
      "1443\n",
      "SENSOR 1 4.19104478917 2.19441500315\n",
      "\n",
      "num = \n",
      "1444\n",
      "SENSOR 3 4.50331304373 0.707514185573\n",
      "\n",
      "num = \n",
      "1445\n",
      "SENSOR 4 4.34762941195 -1.97920192321\n",
      "\n",
      "num = \n",
      "1446\n",
      "SENSOR 7 1.33294282082 0.0230575892315\n",
      "\n",
      "num = \n",
      "1447\n",
      "ODOMETRY 1.97994777393e-05 0.099913771488 0.000324267521873\n",
      "\n",
      "num = \n",
      "1448\n",
      "SENSOR 8 0.726506378949 3.06634580351\n",
      "\n",
      "num = \n",
      "1449\n",
      "SENSOR 1 4.04114278918 2.33975587408\n",
      "\n",
      "num = \n",
      "1450\n",
      "SENSOR 3 4.50535713636 0.78187843772\n",
      "\n",
      "num = \n",
      "1451\n",
      "SENSOR 4 4.29965089498 -1.9407687623\n",
      "\n",
      "num = \n",
      "1452\n",
      "SENSOR 7 1.27944364032 0.0552717851415\n",
      "\n",
      "num = \n",
      "1453\n",
      "ODOMETRY -0.000438875804674 0.099903540815 0.000489960444763\n",
      "\n",
      "num = \n",
      "1454\n",
      "SENSOR 8 0.62179737963 3.10384573817\n",
      "\n",
      "num = \n",
      "1455\n",
      "SENSOR 1 4.24151843231 2.38316523462\n",
      "\n",
      "num = \n",
      "1456\n",
      "SENSOR 3 4.26416968603 0.789449674711\n",
      "\n",
      "num = \n",
      "1457\n",
      "SENSOR 4 4.33240098534 -1.96547159788\n",
      "\n",
      "num = \n",
      "1458\n",
      "SENSOR 7 1.24198454896 -0.0312764055356\n",
      "\n",
      "num = \n",
      "1459\n",
      "ODOMETRY 0.00124083409796 0.09994562889 -0.000946313040158\n",
      "\n",
      "num = \n",
      "1460\n",
      "SENSOR 8 0.760293224516 3.02148565162\n",
      "\n",
      "num = \n",
      "1461\n",
      "SENSOR 1 4.28994508486 2.2237346564\n",
      "\n",
      "num = \n",
      "1462\n",
      "SENSOR 3 4.26717238324 0.896293534553\n",
      "\n",
      "num = \n",
      "1463\n",
      "SENSOR 4 4.27865244716 -2.06179292551\n",
      "\n",
      "num = \n",
      "1464\n",
      "SENSOR 7 1.12266271613 0.0415462318364\n",
      "\n",
      "num = \n",
      "1465\n",
      "ODOMETRY 0.000129299270017 0.100041869119 -0.000655703667229\n",
      "\n",
      "num = \n",
      "1466\n",
      "SENSOR 1 4.45232713374 2.39852116851\n",
      "\n",
      "num = \n",
      "1467\n",
      "SENSOR 3 4.28823399159 0.800783040336\n",
      "\n",
      "num = \n",
      "1468\n",
      "SENSOR 4 4.51068601353 -2.05307475783\n",
      "\n",
      "num = \n",
      "1469\n",
      "SENSOR 7 0.901779605434 0.0337725706528\n",
      "\n",
      "num = \n",
      "1470\n",
      "SENSOR 8 0.977088757516 3.04355799617\n",
      "\n",
      "num = \n",
      "1471\n",
      "SENSOR 9 5.04440283106 -0.0103650380772\n",
      "\n",
      "num = \n",
      "1472\n",
      "ODOMETRY 0.000537988723435 0.0998524709068 -0.000469990594849\n",
      "\n",
      "num = \n",
      "1473\n",
      "SENSOR 1 4.33243080487 2.33948279246\n",
      "\n",
      "num = \n",
      "1474\n",
      "SENSOR 3 4.10533364383 0.863859372451\n",
      "\n",
      "num = \n",
      "1475\n",
      "SENSOR 4 4.60752865229 -2.16099524972\n",
      "\n",
      "num = \n",
      "1476\n",
      "SENSOR 5 5.14915760553 -1.41243997907\n",
      "\n",
      "num = \n",
      "1477\n",
      "SENSOR 7 1.00236861922 0.0941916748689\n",
      "\n",
      "num = \n",
      "1478\n",
      "SENSOR 8 1.23019120912 3.1121174408\n",
      "\n",
      "num = \n",
      "1479\n",
      "SENSOR 9 4.82508017193 0.051751886788\n",
      "\n",
      "num = \n",
      "1480\n",
      "ODOMETRY -0.000205828817179 0.100018336841 0.000249542798678\n",
      "\n",
      "num = \n",
      "1481\n",
      "SENSOR 1 4.33283896214 2.46058071055\n",
      "\n",
      "num = \n",
      "1482\n",
      "SENSOR 3 4.18312790586 0.872387916195\n",
      "\n",
      "num = \n",
      "1483\n",
      "SENSOR 4 4.50465419667 -2.16382123772\n",
      "\n",
      "num = \n",
      "1484\n",
      "SENSOR 5 5.10336341986 -1.39939623537\n",
      "\n",
      "num = \n",
      "1485\n",
      "SENSOR 7 0.704062055735 0.108392416192\n",
      "\n",
      "num = \n",
      "1486\n",
      "SENSOR 8 1.20229516344 3.16630582891\n",
      "\n",
      "num = \n",
      "1487\n",
      "SENSOR 9 4.60881937906 0.0659418142304\n",
      "\n",
      "num = \n",
      "1488\n",
      "ODOMETRY -4.84769033309e-05 0.0998816841886 -0.000516660455681\n",
      "\n",
      "num = \n",
      "1489\n",
      "SENSOR 1 4.50934992142 2.36066884164\n",
      "\n",
      "num = \n",
      "1490\n",
      "SENSOR 3 4.00995160209 0.872702584178\n",
      "\n",
      "num = \n",
      "1491\n",
      "SENSOR 4 4.6556628157 -2.10991460657\n",
      "\n",
      "num = \n",
      "1492\n",
      "SENSOR 5 5.19236777304 -1.46894121337\n",
      "\n",
      "num = \n",
      "1493\n",
      "SENSOR 7 0.595140527124 -0.00247210771207\n",
      "\n",
      "num = \n",
      "1494\n",
      "SENSOR 8 1.1409026588 3.07525098835\n",
      "\n",
      "num = \n",
      "1495\n",
      "SENSOR 9 4.84639214222 -0.0548253969277\n",
      "\n",
      "num = \n",
      "1496\n",
      "ODOMETRY 5.67295197279e-05 0.100061981172 0.000311855228904\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1497\n",
      "SENSOR 1 4.62274843795 2.4285094599\n",
      "\n",
      "num = \n",
      "1498\n",
      "SENSOR 3 3.816414436 0.903117907018\n",
      "\n",
      "num = \n",
      "1499\n",
      "SENSOR 4 4.36708385287 -2.09249135014\n",
      "\n",
      "num = \n",
      "1500\n",
      "SENSOR 5 5.02112185456 -1.48480085145\n",
      "\n",
      "num = \n",
      "1501\n",
      "SENSOR 7 0.722330360765 0.131951761725\n",
      "\n",
      "num = \n",
      "1502\n",
      "SENSOR 8 1.42401805985 3.15417376672\n",
      "\n",
      "num = \n",
      "1503\n",
      "SENSOR 9 4.47099457601 -0.0163240457546\n",
      "\n",
      "num = \n",
      "1504\n",
      "ODOMETRY 0.00115916483704 0.0999765525792 -5.49301680053e-05\n",
      "\n",
      "num = \n",
      "1505\n",
      "SENSOR 1 4.63927554993 2.3761844012\n",
      "\n",
      "num = \n",
      "1506\n",
      "SENSOR 3 3.9376280419 0.858518143986\n",
      "\n",
      "num = \n",
      "1507\n",
      "SENSOR 4 4.78153044206 -2.1711021116\n",
      "\n",
      "num = \n",
      "1508\n",
      "SENSOR 5 5.01779109603 -1.4755448089\n",
      "\n",
      "num = \n",
      "1509\n",
      "SENSOR 7 0.400487152841 0.0954002442539\n",
      "\n",
      "num = \n",
      "1510\n",
      "SENSOR 8 1.5705356409 2.92820511279\n",
      "\n",
      "num = \n",
      "1511\n",
      "SENSOR 9 4.55151136998 0.00907004840239\n",
      "\n",
      "num = \n",
      "1512\n",
      "ODOMETRY -0.00015974321687 0.100001954963 0.000375007480502\n",
      "\n",
      "num = \n",
      "1513\n",
      "SENSOR 1 4.70778012293 2.42157051538\n",
      "\n",
      "num = \n",
      "1514\n",
      "SENSOR 3 3.97505453196 0.932447245049\n",
      "\n",
      "num = \n",
      "1515\n",
      "SENSOR 4 4.70850325866 -2.17152767966\n",
      "\n",
      "num = \n",
      "1516\n",
      "SENSOR 5 4.95124738508 -1.40632188062\n",
      "\n",
      "num = \n",
      "1517\n",
      "SENSOR 7 0.383618192004 0.149257977921\n",
      "\n",
      "num = \n",
      "1518\n",
      "SENSOR 8 1.42134250744 3.07398092328\n",
      "\n",
      "num = \n",
      "1519\n",
      "SENSOR 9 4.4606042563 -0.0161739269736\n",
      "\n",
      "num = \n",
      "1520\n",
      "ODOMETRY -0.000584883749866 0.0998918193766 0.000164194828446\n",
      "\n",
      "num = \n",
      "1521\n",
      "SENSOR 1 4.79178293375 2.48566706534\n",
      "\n",
      "num = \n",
      "1522\n",
      "SENSOR 3 3.63177076576 0.880780831994\n",
      "\n",
      "num = \n",
      "1523\n",
      "SENSOR 4 5.01568989921 -2.26708689866\n",
      "\n",
      "num = \n",
      "1524\n",
      "SENSOR 5 4.98135878948 -1.51500189459\n",
      "\n",
      "num = \n",
      "1525\n",
      "SENSOR 7 0.270711489516 0.323697074147\n",
      "\n",
      "num = \n",
      "1526\n",
      "SENSOR 8 1.83521291936 3.07684872323\n",
      "\n",
      "num = \n",
      "1527\n",
      "SENSOR 9 4.49376890802 0.0459102111966\n",
      "\n",
      "num = \n",
      "1528\n",
      "ODOMETRY 0.000303680491478 0.100162153889 9.76063766532e-05\n",
      "\n",
      "num = \n",
      "1529\n",
      "SENSOR 1 4.87239258496 2.49373595981\n",
      "\n",
      "num = \n",
      "1530\n",
      "SENSOR 3 3.63961037672 0.972600323588\n",
      "\n",
      "num = \n",
      "1531\n",
      "SENSOR 4 5.06493994808 -2.19537045826\n",
      "\n",
      "num = \n",
      "1532\n",
      "SENSOR 5 4.87043159977 -1.5187934091\n",
      "\n",
      "num = \n",
      "1533\n",
      "SENSOR 7 0.158485679685 0.430892408212\n",
      "\n",
      "num = \n",
      "1534\n",
      "SENSOR 8 1.94404523721 3.02999537927\n",
      "\n",
      "num = \n",
      "1535\n",
      "SENSOR 9 4.25502389275 0.0807923140829\n",
      "\n",
      "num = \n",
      "1536\n",
      "ODOMETRY -0.000118594429945 0.100038226107 0.0016860488551\n",
      "\n",
      "num = \n",
      "1537\n",
      "SENSOR 3 3.85525315557 0.972472209298\n",
      "\n",
      "num = \n",
      "1538\n",
      "SENSOR 4 4.7395963428 -2.22231607732\n",
      "\n",
      "num = \n",
      "1539\n",
      "SENSOR 5 5.03393746044 -1.59221850796\n",
      "\n",
      "num = \n",
      "1540\n",
      "SENSOR 6 5.09689220959 -0.905474203378\n",
      "\n",
      "num = \n",
      "1541\n",
      "SENSOR 7 0.210352002822 1.03187235077\n",
      "\n",
      "num = \n",
      "1542\n",
      "SENSOR 8 2.18673487592 3.14059664668\n",
      "\n",
      "num = \n",
      "1543\n",
      "SENSOR 9 4.10712293299 0.0906600190361\n",
      "\n"
     ]
    }
   ],
   "source": [
    "# Начальные распределения\n",
    "m = []\n",
    "P = []\n",
    "m.append([0,0,0])\n",
    "P.append([[1,0,0],[0,1,0],[0,0,1]])\n",
    "H = []\n",
    "Y = []\n",
    "f = open('/data files/sensor_data_ekf.dat')\n",
    "X = []\n",
    "m_ = []\n",
    "p_ = []\n",
    "hh = []\n",
    "R = []\n",
    "cnt_sensors = 0\n",
    "nn =0 \n",
    "for line in f:\n",
    "    nn = nn+1\n",
    "    print(\"num = \")\n",
    "    print(nn)\n",
    "    print(line)\n",
    "    q = line.split()\n",
    "    if q[0] == 'ODOMETRY':\n",
    "        if(len(m_) != 0):\n",
    "            H = np.array(H)\n",
    "            R = np.array([[0.0] * (cnt_sensors)  for i in range(0,cnt_sensors)])\n",
    "            for i in range(0,cnt_sensors):\n",
    "                R[i][i] = 0.2\n",
    "            # Коррекция с конечной матрицей\n",
    "            S = np.dot(np.dot(H,p_),H.transpose())+ R\n",
    "            K = np.dot(np.dot(p_ ,H.transpose()), np.linalg.inv(S))\n",
    "            v = np.array(Y) - np.array(hh)\n",
    "            v = np.dot(K , v.transpose())\n",
    "            v = v.tolist();\n",
    "            new_ang= m_+ v\n",
    "            new_ang[0] = nrml(new_ang[0])\n",
    "            m.append(new_ang)\n",
    "            P.append(p_  - np.dot(np.dot(K ,S),K.transpose()))\n",
    "\n",
    "        # Новый прогноз\n",
    "        \n",
    "        #Берем дельты из Одометрии\n",
    "        deltar1 = float(q[1])\n",
    "        deltat = float(q[2])\n",
    "        deltar2 = float(q[3])\n",
    "    \n",
    "        \n",
    "        # Прогноз матожидания\n",
    "        m_ = np.array([m[-1][0] + deltar1 + deltar2 , m[-1][1] +  deltat* cos(m[-1][0] + deltar1),m[-1][2]+\n",
    "                       deltat*sin(m[-1][0]+deltar1)]) \n",
    "        m_[0] = nrml(m_[0])\n",
    "        #Матрица якоби функции f\n",
    "        F_x = np.array([[1,0,0],[-deltat*sin(m[-1][0] + deltar1),1,0],[deltat *cos(m[-1][0] +deltar1),0,1]])\n",
    "        # Прогноз матрицы ковариации\n",
    "        p_ = np.dot(np.dot(F_x ,P[-1]),  F_x.transpose()) + np.array([[0.2,0,0],[0,0.2,0],[0,0,0.2]])\n",
    "        \n",
    "        H = []\n",
    "        Y = []\n",
    "        hh = []\n",
    "        R = []\n",
    "        cnt_sensors = 0\n",
    "    else:\n",
    "        cnt_sensors = cnt_sensors+1\n",
    "        num = int(q[1])\n",
    "        Y.append(float(q[2]))\n",
    "      #  Y.append(float(q[3]))\n",
    "        delta_x = L[num - 1][1] - m_[1]\n",
    "        delta_y = L[num - 1][2] - m_[2]\n",
    "        qq = (delta_x * delta_x) + (delta_y * delta_y)\n",
    "        phi = math.atan2(delta_y,delta_x)  - m_[0]\n",
    "        phi = nrml(phi)\n",
    "        H = conc(H, np.array([0,-delta_x/math.sqrt(qq),-delta_y/math.sqrt(qq)]))#,[-1,delta_y/qq,-delta_x/qq]]))\n",
    "        hh.append(math.sqrt(qq))\n",
    "       # hh.append(phi)\n",
    "   \n",
    "    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "id": "efb0323e",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x7f57069bd070>]"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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wwXkjsaCaV1clsCddH4ttbabkwHPTAFh1NJ9nlsaiVEh8syCa6REdR6K26E9qSS1BrjZdCn/rLAFy4ZgAvJv9wd6OJ/zCoe42JBfVsvRwHktbuQYcrUwZE+zCmH7OBDhbo1RIKBUSCkmioq6JIX4Ohhj2FlG+Y3wQVQ1qtieXsCmxiI2JRfxzSC+yyUW1vP1vUqfC1ZqNCUXc8bM+UzXMw5bcigY2JhaRVFiNr6MVlw305PJBXtw/uR9P/HWUg80hlrIM3+3M4LudGYZrDfC2J8LTjtJaFaV1TWSV1VFZ3z7WvaMZUEcsP3Lib9So1vLM0liO5VYaQkNbZloAHnYWBLpYtylPOzPSgydnhnV6fT8nKzQ6mQd+PcTbVw1k/klrJYITCAEXnHPKalW89W8SfzePDlsWApffP5ZGtZZXVyfw675shvo58Mn1Qwyj3Y5oEXCtTu5yEktniTOPTAsxPP7zYI7hcXJRbYfHV9SrWRNbwJpWI87WuNiYcfD56e2221uactkgLy4b5IVGq+NQdiWbml0tLa6gU/HDrgxeWXVCBJ9ZGmt4PPOjHYD+72JtZoK1uRJrcxMG+thjbaaPdU84abG1JU79ZJytzShrXti9dWwAz87qb1gg1upk8isbyCita/OzK7UUTatvyN8P5OBoZUpF8xfC7AGezBrgqV+wdbHCysxE/2X32gbDOe525pgoOg+tdLU157rhvvy0J4sn/z5GbaPmjGrLXAwIARecM5o0On7ek8nHm1KoadQYtsvoQwYVCqm5nkYNd08M4olLwjqNKGlB4oQLIMKrqwLeftszl4a38Qv/cddoKhua0OpktDoZnQ40Oh06WUbTvE2jlTleWMOutFJ2pZZR2hxm6ONoSZCrDU9cEnpaW0yUCkYEOjEi0IlnLu1ajWx1c22Xt64cQKSXHbUqDTWNGu7+Re+GevrScOpUGmpVGupUGupUWmpVGsrrmgzibaqUWHbfWNztLNiVWkpxTSNO1uY0NGlIKa7l5z1ZBvFeMNqfMHdb3vvvOOmldWSW1pFVVk9TqxozVmZKAl2s24j3PRODuWdiECqNjonvbmFGpAcfXzekzb2kFtdy+08H2mz7aU8Wx/Kq+PzGoe3qr7Rw54QgluzLRqOT9UlIjWoenhpy1nVg+hpCwAVnjSzLbE4q5o01iaSX1hHlbUewqw0rjuizIJs0OvydrLjs052Ymyj4YeHwNpEWp6L157UrC5h6e9pvu2VMQJvnZiaK08ZmAwzydWD+8As7hb9rQjB3TQhut/2yQV7sSSvjrvFBbRY8ZVlmfUIRb6zRlyeYHuHOc7P6E9AcPTJvSNsQwLf/TWrz/Oc9+rhzM6UCP2crAl2smRLuRoCLNYEu1gS5WONqa44kScxdtIujOZV42VvwxCWhmCgVPLssFq1O5vHpbd0i25NLuP/XQ5ibKHhoSj8+2ZyKhamCD+YP5sm/jzH7k518ct0QxnVQidLH0Yp5Q7xZcSSP8SGufLRRPyh4fnZ/IeKtEAIuAOCtfxP5als6O56c3K262SlFNby6OoEdKfo2X87WZiQX1hKX13Ya//6GZIYHOPLJ9UM6HXV1ROt1wy67UGir4O9dM6jXNYA4EyaEuLDqaD6JhdVEeumTepIK9esMu9PKCHW3YfHtIzsUxHbXCnUlqFmgA5pF2svB8pSRHznl9YYSwDeM9MNEqSC9pJY/DuRw00g//JxPvG9+2p3Jq6sTCHGz4dtboimva+KTzak0qnXMGuBJmIct9y6O4ebv9/HYtFDun9yvXRTOPROD+edQLmEetvg5WfHdzgzMTRQ8OTP8DP56fRMh4AIACqv0yS/j39nC3ROCeHJm+Ck/zBV1TXy0MZnF+7Lb1P5oVGu5boQvC0YH4OtkSdjz6wC4b1Iwj00P7VJaeVtaqhGat6lFfSpOdstccdII1FiZGKovO7A9uRRPe0s+3JDMkn1Z2Fma8urcSG4Y4delv+/Tl56ZALZEn5gqJa4drq978v76ZMxNFDwwRb++oNbqeGVVPIv3ZjOtvzsfXzcYa3OTdqPmYFcblt8/lueWxfH+hmQOZVfw4bWD27i5+rnZcGmUB4v3ZLHs/rH8sjfLUFpBoEcIuACAj68bQqSXHW+uTeKr7el8tT2dFfePZZCvQ5vj1FodS/Zm8eHGlDZV+/ydrbhldABXR/sAsCmxiHfWnZiqn+moqeVz31X/N9Am8/CJS0L7TDyxm50F4R62LN6bxRdbU6lr0rJgdACPTAvpVtz3mdKymDtrgCeutuYcy61kTWwBD03ph6utOVX1au77NYZdqWXcPTGIJ2ecGAQ4W7e3z8rMhA/mD2KovyOvrUpg9ic7+eKmoQz0cTAcc9+kfqyNLWTaB9tQSHD7uKDzfp/GhBBwgYG7JgQzJdydaR/oq8zNXbSLG0f68eSMcOytTNl6vJjX1yQaapmAPgvx1rEBDPZ1ZFNiEY/8foSdKaU0aXV42Flw69gArhrqc8Y2tUhvd8qoVjQvznk7WHL/5H5n/Nq9kSnhbny+NY3xIS68MCfignW/yS6r51hzXP2C5pZp76w7jpO1GXdOCCK9pJY7fjpITkU9710ziKuHtf2fd+bCkiSJm0f5M9DbnvuWHOLqL/bw0uUR3DBCX5s9ytueoX4OHMquZEq4exs3jUAIuOAk+rnZEPvyJdyzWD+SWrIv25CC3oKVmZKrhvpw6QAP9qTpS7fuSYtBo5PxdrDkljH+XDrAk8E+DmfduszRygwLUwVjgp27fI6lmZJLItx5/JKwPrfg9eCUEC6N8iTK2+6C3lvL6DvC046hfo7sTCllZ2opL8yJ4FhuFfcujsFEqeDXO0cxPMCp29cf5OvA6gfH8fAfR3huWRwxmRW8ccUALM2U2Fvq6784WXetdvnFhBBwQTtsLUz55baRfLAhmc+2pLbZN62/G5Fe9ny8KcVQNc9UKXHH+CBmDfBggLf9ORUWR2szYl+ecdpww9ZYmCr5ekH06Q80QizNlAzoYlXCc8maWH1E0YLR/sgy/G9dEt4OligkWPD9foJdrfnuluFn1Tja0dqMHxYO59PNKXy8KYX4/Go+vn4wsc0L4jtTSmnS6Lrc4ehiQPwlBB2iUEgd+p03Jhbz8aaUNtv+uHs0T18azkAfh/MyKuyOeAvOPVlldcTlVWNnYcLcwd6sjSsgNk/fuOKVVQlMCHHhn3vHdFm81afoYapUSDwyLZQfbx1BUU0jMz/aQWmtirsmBJFf1ciKVlmgAiHgglMwI9KDwy9MZ/n9Yzvcf0dzdlxDk/ZCmiW4wLS4T+ZH+2KilHjvP31DjsLqRu4YF8i3tww/bZnb1jSoT/9+mRjq2qZqpE4nE+Zuyxfb0tpEPV3sCBeKoFNKalR8syOd3/brfeCXRLhz3+R+NGl0vLA8jm+b620kF9Uwtt/pY48FxsmaY3oBv2mUP38cyCGzrB4ThcQbV0QZwgm7gp2FCdWNGhqatNh1QfBbFk1dbMz5dmcGZkoFTVod6+MLuVQUuQKEgAs6ILO0ji+3pfHPoVx0Mlw+yIt7JwW3iXhY/dA4XlwRx2/7c3hlVQL1TVruHB8k/JN9jIzSOuLzq5kY6kqAizX3LTmEg5UpX940jFFBXV9YBn12ZUJBNSU1KtztTp0FK8syX25LI9DFmo2PTWT1sXye/icWtLBoayozozz63AL1mSAEXGBAq5MZ+toGQ3z3TaP8uHtCcIe+TVOlgoenhvLbfn1RqHf/O87SQ7m8Ni+KMcFiNN5XaEneMYQOXj0QZxuzbmXTtuDjaElCQTW5FfWn7ZG5O62M2Lwq3rpyAEqFxNzB3vT3tOOexTHE5VVzNLeKwSflKFyMCAEXGNh6vLhNcs6+dH1DhJGBzowMcmpTO0St1ZFboa+n/fzs/gS72vDiyjhu+GYfVwzx5tlZ/bucOSnovaw+VoCPoyWTwvS1a86mOfEd44NYn1BkKANwMlqdzJGcSrYdL2bp4Txcbc3bZNH6OFqy4v6xLD2UR7Crvs5Ldlk9hdWNhpZuFxtCwC9SjhfW8PGmZN67ZhBWZvq3QUtH9htG+uHraMXe9DKWHcpj8d7sU10KO0tTJoe7sT5oIp9vTeXLbWlsTCziyRlh3DDSv89kQl5sNKq1JBZU8+ysU5dV6CojAp3IfHt2m201jWo2JBSx9XgJ21NKqKxXo5BgsK8DD08LNSQAldc1MebtTTSqdax7ZDy2FqZodTJ3/nyQWpWGXU9POWv7jBEh4Bcp2eX1rI0tZGKoK9cO99N/CFL1jRe8HSxxsTEjwNmKivomw2JSR9hbmrI2toDdqaU4WJlhb2nKdcP9+ONADi+siOevmFxenxfVJj1aYBxYmCpZ+9B4wrvQBelMeXFFPMuam2iMDnLm8sFeqLU6rh/h1yZ89OONyTSq9eGHMz/awdYnJrE/s5zjRTXYWVy8MiZ1Vvz+fBAdHS0fPHjwgr2eoHPyKhsY+/ZmBvrYs/KBcfwdk8sTfx1tc4y1mZJIb3sGeNsz0MeeKG97/JysSCqoYV9GGcdyq6iob6KqQU1lvZrK+iaqG9sXG7IyU3LkxUvEAqegHTnl9Xy6OYVlh/PQyRhCBIf4OfDZDUPxdrAkraSWGR9ux8HKzFCTvXUzCjMTBcmvX9pj93AhkCQpRpbldtlpF+9X10WOl70FDlamHMutIja3imWHc3G3M+eWMQF42VsS5W1PkIt1h6nwA3zsO80G1OpkqhvUVDboBb2yQY21mYkQb0GH+DpZ8c7Vg3h0eijf78zgmx16N97h7ErGvr2Z7xdG8+u+HCxMlTxxSShPN3cnahHvSC874vOrL9omyELAL1IkSSLSy45dqWW8t/44u9PKeHhqCPdNOrviT0qFhKO1GY7WZoD1uTFW0OfxtLfkudkR2Jib8uHGZMP2237Uz9gfnRaKlXl7uWrpw9mo1hqaK19MiGHRRUxLNMC25BJkue/UzRYYL5ZmekmKeX4az846UYK4pLaRxuYMTttmn7dNK8FOKa7ttBdqX+bi+8oSGIg8qdaJv7MYMQt6liaNfqHSztIUJ2t9GOqoICduGxvIzlR916eWfqtqrY5gV2vSSuqYt2gXNuYmhLrbEO5pR7iHLWHutpiaKIjPq+Lm0QE9cj/nGyHgFzEnC7gsyyK7TdCjtAi4Wqvjvf+OM8jXgd/uHIUkSWxMLAL0i+u/3TWK+V/tobRW7wu/dWwAWp1MUmENa44V8OtJJZCFgAv6HIEuNliYKgzhWbvTykRNE0GPotLqy8V+sz2DwupGPrthiGFQ0dCkf5/eMzGYgT4O3DMxmI826itjXjnEx7CwLssyhdWNjH5rc8/cxAVE+MAvQsrrmsgqq0OpkJgU6sblg7wAuPHbfexunqYKBD1Bk0aHLMt8tT2NWQM8iG7VHCLI1ZqBPvbcPl5fBfPuCcF42euzg1tXOJQkyZBFDHBttO8Fsv7CIwT8IuSKz3cx8d2tAHx58zA+uX4ILjZ6f+MN3+4TjWMFPUaTRodaK6PW6njqpD6qlw3yYuUD4wyZw5ZmSp6bHQHom4q0kF1Wz/PL4wzPLc06bufWFxAC3scorGpkwff7WXoot9O6yVll+homZbUqVhzJY9GWVF66LMKw/+WV8RfEVoHgZFp84AvHBHRpUX32QE+2/99kQ2ErtVbHg78fRiHBjEh3AEP0Sl/krHzgkiQ9CtwByEAscKssy43nwjDBmWFmoiAhv4rtySV8tS2d/5sRxtT+bm0WJ32dLMkpbyCpsIY31yZSVK2i9drlXzG5jA91NbhWBIILhZmJAkcrUx6YHNLlc1o3Ov5gQzJHcyr5/MahhjrmLQudfZEzHoFLkuQNPAREy7IcBSiB686VYYIzw8najO9uGY6lqZLjRTXc8fNBrv5yD/szTvgEo5rjv3elllJUreL2cYE8OCXE4E8EeG5pLDnl9RfcfsHFzZMzwln90HjsrbrfwHhnSilfbkvj+hG+zBrgSWG1fizZkn7fFzlbF4oJYClJkglgBeSfvUmCs2WQrwOLbhyCUiGhVEhkltYx/6s93PrDfhILqnFrLvPaUkRocpgbj00PZcdTU/j5thHMGeiJSqPjUHZFT96G4CLE3soUb4fu1xovq1Xx6J9H9GWN50QCUHQRCPgZu1BkWc6TJOk9IBtoANbLsrz+5OMkSboLuAvAz6/r7ZcEZ8eUcHdenxfFM0tjGdvPhf6ednyxNZVZn+ygJWGtoEr/Bu/vqa82p1RITAh1ZUKo60VbW0JgfMiyzBN/HaWqQc1Pt47A0kyJLMsUV+uFu7RW1WdzHM7GheIIzAUCAS/AWpKkm04+Tpblr2VZjpZlOdrV1fXMLRV0m+tH+PHQlH6sPJqPSqNlx5NTuGdicJtjnKzNcLZp33hBiLfAWPhhVyZbjpfw3Kz+RDQnp5XXNdGk1eFhZ0GjWkddH228fTaLmNOADFmWSwAkSVoKjAEWnwvDBOeGR6eHkl/VyEcbU/C0t+CpmeEUVTWytNl9Eupu08MWCgRnTnx+FW//m8S0/m6Gtm8ARc2j7yhvOwqrGymrVbWpndJXOBsfeDYwSpIkK0k/N5kKJJ4bswTnCkmSeOvKAUwIdeXZZXFsOV6Mp4MFCgkUEqLRgsBoqW/S8OBvh3G0NuWdqwe1cZG0+L8jmhfs+6of/Gx84PskSfobOARogMPA1+fKMMGZIcsydU1aSmpUlNSoKK5ppKRGRaCzFduTZW794UCb47/ens6zs/r3kLUCwZlRp9Jw35JDZJTWseT2kThZm7XZ3yLgLfV+Smr6ZijhWc0pZFl+CXjpHNkiOAM0Wh3PL48jtbiWkloVxdWqNmnFLZg0R6R0lNwjFiwFxkRZrYrbfjyg71p/xQDGdFC/pyWEMMJTL+BiBC7olRTVqPj9QA7BrtYM8nHA1dYcN1tzXJt/3GwtcLU1x8HSFIVCIrW4lmkfbGtzjQa1tk/6BwV9j5zyehZ8v5/8yga+ujma6RHuHR5XVK3C2doMj+bchrI+mswjPrVGTovwXj/CjzvGB532+H5uNkzr724ozQlQr9IIARf0ehLyq7nlh/00aXQsuWNkm0JXJ1NU3Yi7nQWmSgUOVqZ9dgQuaqEYOS3CW9NBM+HOGBnY9o1f30dDrAR9h91ppVz71R5MFBJ/3zP6lOINLQJuTmJBNVqtTHWj+gJZemERAm7kKBUS1mZKartRQbDF3x3kYo2FqQKrPlytTWD87EwpZeH3B6hRabgm2pe8ygZSimpO+Z4vqm4ktaSWuYt2YWGm5NaxgR0eV9WgZtGWVGqMVODFvLkPYGNhQm03RuAmzaU337pyAEP9HTFViu9xQe+lor4JJ2szimsa+WRTSpt9dhYmeDlY4mlvgZeDJV4OlrjamBsKWE0MdeWD+YM6TFYDeHNNIn8czEGt1fHItNAOj4nNrSLUwwZzk9430BEC3gewtTClRtX1EUSwqw0BzlZEetsL8Rb0ei4b5MVlg7zQaHUU1agoqGwgr7KBgqrG5seNFFQ1cCSnkor6tp+DpMJqFm1JY/ZAT4b4OqBoFW11ILOcPw7mYGGq4Jc9WdwzMRgL07Yi/fnWVN5Zd5yPrh3MvF7Y9FsIeB/AxtykWz7wsf1c2Pp/k8+jRQLBucdEqcDbwRJvB0uiOzmmoUlLQVUD+ZWN5FTUszmpmMV7s/h+VwZe9hbMGuDJ7IGeRHrZ89yyWLwdLHltXiS3/XiQpYfyuGHkiXpNn21O4b31yQAM8XM4/zd4BggB7wPYWpgY/IEbEooY5u/YLrFBILgYsDRTEuRqQ5CrvkTE9SP8qG5UsymxiDXHCvhpTybf7szA3tKUqgY13y6IZnKYGwO87fl2ZzrXDfdFoZD4aGOyod9muIdtl5pL9ARCwPsAthYmFFQ1kllax50/H2RiqCs/3jq8T1ZfEwhOxbbkEpSSxLiQE8k9dhamXDHEhyuG+FDVoGZDQhFrYwvwc7JiWnMc+R3jA3n49yNsTirmWG4ln2xOZUq4G5uTirmkk1jz3oAQ8D6Ajbl+EXNbcgmgfxOvOJLP1P5u/BdfxIojeVTUN7Hy/nFtfIACQV+iuKaR+xbHEOZh20bAW2NvacrVw3y4ephPm+2zBnjy8sp47vj5IADzo30Y6ueoF/BIj/Nu+5kiBLwPYGNuSq1Kw9bjxXjZW5Bf1cgjfxxpc8xlg7yEeAv6NB+sT6auSUt1N9aDWlgXV2hYAL1+hC9vzBvAXb8cxNvB0lBPpTciBLwP0OID33K8pMP9wwMceffqgRfYKoHgwpGQX80fB3NQKqRux3TnVTbw4G+HgRPi3aDWsj2llBtH+vVqV6SIIesDONucWLC0tzTlh4XD29SI+GZBdLvwKIGgryDLMq+vScDe0pQrhnh3KyJLq5MZ+/ZmACaFufLmFQNQKCS2J5fQpNFxSUTvdZ+AEPA+Qev41DAPW3wcLTmcXWnYJmK9BX2ZTYnF7E4r45GpIfg4WlLfpEWj1XXp3JaaQHYWJvyw8MTC//qEIhytTBke4Hje7D4XiE+2kdLQpOW/+EIe+/MIg1450Yp0f0Y50z/cTmmtiv7NpTQ/2JDcU2YKBOeVJo2ON9cmEuRqzY2j/LG10Hez72ppiYmhrvx82wiOvnSJQbzVWh2bEouY2t8dk14++BE+cCOhulFNZmkda2IL+GpbepfOSSyoRiFhtHUeBILTsWRfFumldXx3SzSmSgV2FieKuzlYnT4XwsJUyYRQfa/eRrWWg5kVrIktoLpR06vDB1sQAt7LSCyoJq2klszSOjJK68ksqyOztI6yuu7VM/5h4XAG+tjjYGUmmjUI+iSV9U18tDGFcf1cmBLuBmAYgVc1qPE9zfmyLJNWUsf25BK2p5SwN72MRrUOU6XEjEh3g7D3ZoSA9yLWxxdy1y8xZ30dOwsTfBwtOy3gIxD0BT7ZpK8i+Pyc/gb3R+sReEdUNajZlVrKjpQStieXklfZAOgrc1433I8JoS6MCnLGysw4pNE4rLxImBDqypc3DQNkTBQKTE0UmColTJUKTJUKTBQSZib63y3bZGRGv7WZq4f58PaVA1AqpF4d9iQQnAvSS2r5eU8m1w73JdzjRJx2ywi8xW2o1ckcza3Uj7KTSziSU4lOBltzE8b0c+a+ycFMCHHF18mqR+7jbBEC3ouwMFUyM6p7YUu7UksBmBnp0esXXASCc8Wba5OwMFXy2PSwNtttm0fg3+3MYMWRfHamllLVoEaSYKC3PfdP7seEUFcG+zr0iegsIeBGzrbkEsyUCkYHO/e0KQLBBWF3aikbE4t4cmYYrrbmNKq17MsoZ3tyCSuO5AGwL6Mcdztzpkfofdnj+rn0yQJvQsCNnK3Hixke6Ii16GkpuAjQ6mReW5OIpakSnU7m5u/2sT+jHJVGh5mJgiG+DpTWljN7oCefXT+kz7sTxafeiMmvbCC5qJZrhp1uvV0g6BusPpZPYkE1AO+tT6afmw03jvRnQqgLIwOdsTRTEvb8v3jZW/R58QYh4EZNS/XBSWG9P9xJIDgXeNpbcuUQb0YEOjE+1BVvB8t2x9hZmnYrnd6YEQJuxLRUH+znZtPTpggEF4QRgU6MCDx1R3pbi+51qOouZbUqrM1NekV9IeNfhr1IadLo2JVaxsQwt4tiqigQdBWFJKGT5VMesyu1lPuWxJBRWtfl61bUNfHKqnhGvrmJRVtSz9bMc4IYgRsRjWot5iYKJEniUHYFtSoNE40gW0wguJCotfoFzRbi8qowM1EQ4maDJEkk5Fdz188HqWvSsu14Ca9fEcUVQ3w6vZ5Ko+Wn3Zl8ujmVmkYNpkqJywZ5XYhbOS1CwI2E0loVI9/chJ2FCQN9HAz+73AP2x62TCDoXTRpdPokN1nmi21pvLPuOABe9hZEeNmxMbEYOwsTlt03hrfWJvHoH0fZkVLKa3Oj2kRzybLM6mMF/G9dErkVDTha6ZOE7p0YTKh77/jcCReKkeBsbcY1w3yoqFcbxBtg0ntbGfv2Zu5fcojcivoetFAg6B2otfp6Jm+sSeSddceZO9iLt68cQLCbDRsTiwGobtTw/vpkpvZ3Y85AT5YfzmPOpzuJy6sC4EBmOVd8vpsHfzuMjbkJX988DGtzE4Jcrblvcr+evL02nNUIXJIkB+BbIAqQgdtkWd5zDuwSnIQkSbx15QDc7Cz4ZJO+W/boIGdUGi2HsisprmnktnGB+DgaZ0qwQHCuUGl0rDiST32TloVjAnhxTgQyJ2p/3zUhCIAtScW89W+S4byM0jrmfLrT8Nzdzpx3rx7IlUN9ePvfRHIrGvjz7tG9YvGyhbN1oXwMrJNl+WpJkswAoR7nEUmSeGx6KNuSSziaU8me9DLDvk+uG8Iw/95dfF4guBCotToa1Toemx7Kg1P6IUkSL6+MZ2NiMa/NjeTm0QEAPDurP7kV9Ww9XsKyw3nEZFW0uc6WJyZhZWZCbG4V3+3M4PoRfqeNgLnQnLGAS5JkD0wAFgLIstwEdK/mqeCM8HGw5GhOZZttfx7MYWaUhyEiRaeT+WBDMmP7uYg0e8FFxbzB3gzxc+Da4X4A/LArgx93Z3L7uECDeLfgamtOfZOG5KIaAHydLBns68gQXweszExQa3U89c8xXGzMefrS8At9K6flbEbggUAJ8IMkSYOAGOBhWZa7HpcjOCP2ZZRjbqJg9gBPlh7W137YcryElUfzmTtY317t253pfLYllZyKeiHggouKt6860cB7Y0IRr61OYHqEO8/O6m/YfvIC5aQwV565tD9hJwUFfLczg4SCar68aSj2lqYX7B66ytkIuAkwFHhQluV9kiR9DDwNvND6IEmS7gLuAvDz8zuLlxO08MrlkYS42xDqbktaaZ1hNP7w70cYH+JKZlmdYeU9vUR8nwouTuLyqnjwt8NEedvz8XWDDY1NDmaW8/qaRI7kVBLuYcsvt49gfEj7cNyssjo+3JDMJRHuzIzyvNDmd4mzEfBcIFeW5X3Nz/9GL+BtkGX5a+BrgOjo6FNH1wu6xOyBJ95M4e62HM2pRJJAlmHoaxvwdrDE08GC4f5O/BdfiCzLItlHcFGRX9nAbT8ewMnajG9vicbKzITM0jr+ty6Jf+MKcbcz552rB3LVUJ8OO1bJssyzy2IxUyp4dW5UD9xB1zjjMEJZlguBHEmSWgryTgUSzolVgi6jVEq42Jhz5MVLDNvyKhv47PqhDPJ1oK5JS0mNqgctFAguLLUqDbf9eICGJi3fLxyOqULBq6sSmP7hNrYll/DY9FC2PDGJ+dG+nbYb/OdQHrtSy3jy0nA87C0u8B10nbONQnkQWNIcgZIO3Hr2JglakGUZlUZ3yrAlpSSh1emwtzTl0WmhfLhR34H+9wM5XNrcHCKtpA43u977JhQIzhUarY77lxwipbiWr24axvbkEj7dnEKtSsO1w/14dHoIbran/iyU1qp4fU0C0f6O3Diid7t9z0rAZVk+AkSfG1MEJ/Psslj+icljZJATk8PcmBzuRqCLdZtjlApJ3zYqp5LPtqTgYGVKZb2a3/Znk15SC+jjW8VCpqCvI8syL62MZ1tyCSMCnXhldTw55Z0vUHbGq6sSqKxX8/glYSh6eUNwkUrfi3GyNqNJqyOtuJYdKaW8ujqBAGcrJjWL+chAJ0wUEo0aHQ/8dgg3WwvWPDSO99cn88veLPZllAMYhFwg6MtU1qtZsi8bgP3N733Qf47WxhYQm1eFr6Mlvk5WuNtZdOg+2XK8mJVH8wG4/pu9PDIthEemhV6YGzgDhID3YiaFubFoSxrPzY5ggLc9W5OL2ZJUzG/7s/lxdyaWpkoa1FoAcsobWHrfGByszHhyZhgbE4soqGoEMPwWCPoy764/bnjs7WDJiEAn8ioa2JNWxrLqPFoXKDRVSng76MXcx9EKXydLfByt+N+/SfRzs2H2AE8+3pTCRxv1P/ufm3pa10tPIMmnKbt4LomOjpYPHjx4wV7P2NFodQx9bQMzIj1495pBhu2Nai170svYmlTMT3uyDNtD3W2YHObGpDA3qhvV3P1LDNP6u/PUzDBCeknxHYHgfHHNl7s5klPJjientFt4VGm05Fc2klNeT05FPTnlDeRU1JNb0UBueT1ldfocREmCP+8ezfAAJ8pqVQx7faPhGg9N6cej00N7JKJLkqQYWZbbuauFgPdyHvj1EPsyytn3zNR2/rhVR/N58LfDHZ5na25Cg1qLJMHah8YLARf0eeLyqrj8s51cN8KPN68Y0K1z61Qacisa0Mky/T3t2uz7YP1xPtmsr/8tSbD3mam4X+CggM4EXFQj7OVMDnOjpEZFQnMfQNCPwJ9ZGsuDvx1miJ8DW56YxG1jAwEIdLHmmUvDmTPIExcbc9RamT8P5vSU+QLBBSPK255bxwby675sYrLKT39CK6zNTQjzsDWItyzLHMgs55mlsfy4O9NwnCzDtA+2Gfpy9jTCB97Lmdjc73JLUjFR3vbkVzZw6w8HOF5Uwz0Tg3n8klBMlQpevCyCMcHOPPH3UT7ZlMKbVw7gzSsGkFZSK0IIBRcNj00P5d/YAq79ai/ONma42prjYqP/OfHYDNdWzx2sTA1ukYzSOpYdzmP54Tyyy+uxNFUyM8qDywZ5ciS7ki+2pWGmVGCq7B3RKcKFYgTM/WwnSoXE0vvGsuxwLo/+cZQRgU4svn1km84joM9Ae+i3wxzMquDaaF9evjwSS7PeU/5SIDjfpBTVsPRwHqU1KkprVZTWNlFSo6KsToVa217vTBT6ZDgrcyXpJXVIEowNduHKod7MiPQgraSWJ/8+RlJhDXMHe/HSZZE4WZtd0HvqzIUiRuBGwKQwNz7ZnEJFXRPzBnuTVVbPRxtTuO3HA3xx01BsLfRFdqrq1exNLyPCy44jOZX8cTAHjU7m/fmDTvMKAkHfIcTdlqdmtq8cKMsyVQ1qSmtVFNfohb1F5EtqVFQ2qLk22pe5g73xsLegUa3lw43JfLM9HVdbc75dEM20CPceuKPOEQJuBEwOd+PjTSlsTylh7mBvHpkWipeDJc8ujeWaL/fw460j8LC34LU1Cfwdk4ulqZJBvg4M8LZn3hDvnjZfIOgVSJKEg5UZDlZm9HM79aL+gcxynvr7GOmldVw33JdnZvXvc9UIBReIgd72OFubsfV4iaFc7PxoXzzsLLh3cQxXfL6LH24dTkJ+NWP7OfPzbSM7rfEgEAg6p06l4Z11Sfy8NwtvB0sW3z6ScSEuPW1Wp4goFCNAoZCYGOrKluPF/HUwh6M5ldQ3aZgQ6sqf94xGJ8tc9fluEgqqifC0E+ItEJwBO1JKuOTD7fy8N4tbRgfw3yMTerV4gxiBGw3zhnizJraA//v7mGGbj6Mloe62jAx0NqT/xuX1jvAmgcBYqGpQ88aaBP48mEuQqzV/3T2a6IDe1TqtM0QUihGh0erIKq8npaiG5KJakotqSCmqJb20ts3q+hOXhHL/5H6iBrhAcBrWxxfy/PI4yuqauGtCEA9PDelVTYtbEFEofQATpYJgVxuCXW2Y2arGvFqrI6usjpKaJv44kM1765PJq2zgtblRmCiFl0xwcfPDrgxeWZWAs7UZd4wPYmw/Z5yszfjfuuOsOppPuIct390ynAE+9j1tarcRAt4HMFUq6OdmSz83GBXkhLejJYu2pFFY1chnNwzF2lz8mwUXLy0F38rqmvjfuqQ2+x6eGsL9k/sZ8ik0Wh21Kg0OVhc2zvtMES6UPsqv+7J5fnksEV52fL9weK+spNZbyCyto7pRTT83G6zMxJddX0SWZeLyqvlxdyb/HMo1bHewMqWfqw0V9U2kteof+85VA5k/3LcnTO0QUczqImRzUhH3LzmMk7UZP902/LSxrxcrr61O4LudGUgS+DpaEdrcMDrU3ZYQd73Lqjf6RQVnTlW9mh2pJfwXX8Sq5gCAFpyszdj02EQcL3C25akQPvCLCJVGy9JDefT3tOPSAR4sPZTHNV/uYc8zU4UQdcBt4wIZHuBIclEtx4tqSCmqYevxEjQ6/eBGIUGAszUhrYQ91N2WQBfrdqUMBMZBXZOGhPxqdqWWAhDsas0tYwK4Yoi3IbPZGBAC3odo0uhYfiSPJ1uFGgIEuVgzI8oDU7Gg2SHeDpZ4O1i2WRhu0ujILKsjuaiG5MITUT8bEopo1nVMFBIRXna8feVAIrzsOr64oNcgyzJ70sv4eXcW6xMKAZjW351bxgQwJtjZKKO2hAulD/HqqgS+35VheD4qyIn35w/G28GyB60yTmRZ7vAD3ajWkl7SLOxFNfxzKJfqBg3vXjOQOQO9esBSQVe5b0kMa2MLcbQy5boRftw40g8fR6ueNqtLiHrgfQidTubbHekczak0bKtpVLNkn747j52FfmI1I9JDiPcZsCetjNFvbSa1uKbdPgtTJRFedswb4s2TM8NZ9eA4IrzseODXw7yzLgmt7sINiATdo+Wz8PglYTw1M7yNeBdXN/LYH0coqjau9oNCwI0QSYLX1yQyd9EuyptbQf0dk4tKowPg7asGAnAkp5K96WWkFtdQWd/EhZxtGTOmSonC6kYe+u0IKo32lMe62Vrw650juX6EL59vTePOnw9S3ai+QJYKusNTM8MZ18+FV1bFczDzRMOHqno1I97cxNLDeRQaWf9YIeBGiCRJ3Do2AIChr21Ao9XxyqoEAOYM9GTWAE+8HSxZcSSf677ey7QPtjP41Q2EPPcvL62I60HLjYOBPg5YmCpIKKjmvf+Os/JoPiuP5pOQX02jur2gm5soefOKAVw9zIfNScX80qpPqaD3YKJUsOiGofg4WnH3LzHkVtTT0KRl0KvrAZgY6sogX4eeNbKbCB+4ERPw9Jp222Ken4azjbmhx5++oL2KIzmV/LArk4VjAnj58sgesNa4uOGbvexOK2u3vSXUsJ+bDf3cbAh2taafmw2JBTW8uCKOAd72fL9wOM425j1gtaCFgqoG9qaXMW+wd7u1jLSSWuYt2oW3gyVJhXo3Wai7DesfndgTpnYJEUbYB0l8dSb9X1xneP7+NYMMwtHS4y8Mfez3lqRiLEwV3Dc5uEdsNTZGBTmzO60MN1tzimtUALx3zSByyutJLaklrbiWnamlNDW7rQAmhLryxY0i87U3sOZYAa+vSUStkdsl5AS72rDohqEs+H4/ANZmyl4t3qdCvNOMGEszJa9cHslLK+MBCHS1JrO0jsoGNRX1TVQ3qBkT7EJ5XRMrjuZz94RgkZHZRUYG6qvR3TTKnw82JAP6xeNHp4cajtHqZL2gF9dS16Rh1gBPEarZS2hpefbiyjiG+ju0S2KbEOpqeBz3yowLatu5RAi4kVCn0vDL3iyKqhupqtcLdGWDmsPZlYZjrvx8d7vz7psUTGpxLTZmJtwzMegCWmyc6HQyn21JNdTP+C++kIVjAvhxdyZP/nOMa6J9DFNypUIiwMWaABfrnjRZ0AHuzY28G9U6Hvj1MMvvH9suiS3U3YYAZ2ujjP9uQQi4kZBRWsfb/+oL8dhamODvbIWjlRlzBnriYGXK4r3ZhmO/XRBNk1bHfUsOUVKjYn1CEY9NDzWaAj09iUYn88OuDCrq9ZEk8fnVxOefqLEe+MxaLh/khbejJT6O+gQg/W8r0Ty6F+Fup3clXjnEm6WH83hjTSKvzYtqc0x5XRPhHnasjy9ky/ESrM2UPD8noifMPWOEgBsJUd72/HTbCB794wiNai23jQ3kyqE+hv0PTw1l+BsbAYjJrmBEc0H6dfGFOFmbcdu4wB6x29gwM1Hw7tWDuOPnE4vtL8yJID6viqWH85AkOJxTwdrYAkOqfQtO1matBN0S71a/fRytemVPxb6KW/MIvL+nHXfamPHNjgzG9nM2dJnflFhMaW2TIcIIYH60z6ku2SsRUShGRmFVIw/9fpj9GeXMj/bhlcujDCO/LceLufWHAwBE+ztyMKsCgOdn9+eO8cJ90h1aClwBfL8wminhbbuRa3UyxTWN5FU0kFvRQF7lid95FfXkVjQY4vJbsDU3aSPqrcU9ystO1G4/h8iyTMSL/3HDSD8emhrCoFf0oYIKCU7OtXK1NefVyyOZGeXRa90p560aoSRJSuAgkCfL8pxTHSsE/Nyg0er4eFMKn21JJcRNv6Ie4q5fpHl2WSy/7jvhTvGws2Dr/00SRay6SZNGx9Vf7uZYbhV3TQji2Vn9Dfuu/WoP40NceGBKSKfny7JMWV0TeQZRbyC3or6N0Nc0agzH3zspmKdmhp/Xe7pYkGWZjNI6pry/DdDPqlpHC02PcGdDQhGgj0DZ/czUXj87Op9hhA8DiYCo5nOBMFEqePySMEYEOvHI70e4/LNdvDYviquH+fDSZRFtBPyhXtoiqrdjZqLg0+uHMOeTnRzOrmizT5bhvfXJWJgqO53ZSJKEi405LjbmnSaHVDWo+WRTCt/tzGBUkPO5voWLlqu/3ENM1on/2YJR/kwKcyOxoJo31iYaxBvgy5uH9XrxPhVnNWeTJMkHmA18e27MEXSH8SGurH14PIN87Xnir6M8/udRtDoZy1aCfY0R+vV6C/7O1vx42/B2It2SBfv6mkT+PJBzxtc3VUqsOJLPiEAnJvTy7ufGxBBfB1p7Qp6b3Z+yOhVfbEszbGvxdzv1oprfZ8LZOt0+Ap4EdJ0dIEnSXZIkHZQk6WBJSclZvpzgZNztLFhyxygemhrC0sO5zPlkpyEEDhBxyWfJMH8nZkR6tNk2PcLdUBjp6aXH+De24Iyu/cOuTEprVTw1M6zX+l6NkefnRLDsvrGG54HPrOXh34/g52TFsvvGEOxqzZ8H9V15nK2NO2P2jD/dkiTNAYplWY451XGyLH8ty3K0LMvRrq6upzpUcIYoFRKPTQ/ll9tGkl56oi2UQoLiGuMqzmMMmCgV3DLGH9BnvD78+xF2pHRvcFJVr+arbWlMDXdjmL/T+TDzomawrwPPzmq7pjAyyIkwD1s+vX6ooRGHo7Xxuk/g7EbgY4HLJUnKBH4HpkiStPicWCU4I8b2c2bhmADDc50Mq4+e2ehQcGqujfbD0lTJ6CBnglytuevnmDZ+19Px1fY0qhs1PH5J2Hm08uLm8kHe3DUhiL/vGc34EBe+2pbO9A+2k11ez/+uGsDcwV6Ymxj3+tA5CSOUJGkS8ISIQrnwaLQ6DmZVsCmxiI2JxWSU1hHuYcvMKA8+3pTC2GAXFt8xsqfN7JM8vzyWPw/ksvLBsdzzSwzldU38ec9owj1OvZ5fXNPIxHe2Mj3CnU+uH3KBrL14ufPng20WLluI9nckOsAJV1tzBvnYEx3Qe2dCophVH6JRrWVTYjEbE4vYnFRMVYMaM6WCUcHO3DY2gFkDPHG2MWdCqCsqdafLE4KzZOGYQBbvzWZ9fBG/3D6Sa77cw83f7eevu0efMr1+0eZUmrS6NnVVBOePp2aG42Jjzupj+W1CNw9mVRhyJewsTDj2svHVRBGJPEZGclEND/56mONFNThamTI53I3p/d0ZH+qKjaiCd8G55fv9JBRUs+upKWSV1TH/qz1Ym5vw9z1j8LBvXzgsp7yeKe9v5ephvrx15YAesPjipWXgs/RQLpuSitvsi/Z35K97RvfaxWTRUs3IkWWZ3/Znc/lnOymtVfHVzcM48Nw0Ppg/mEsHeArx7iFuGxdISY2KNbH5BLpYc+NIf3IrGnjir6MdHv/RxhQkSeKhqf0usKUCC1Mlswd68t3C4Rx8fhovtqp7cjCrgqnvbzN0qTcWxAjcCKhqUPPs0ljWxBYwrp8LH8wfZKj1IOhZZFlm5JubKK5R4e1gSV5lA75Oljw1M5w5A70ormkkJrPCMF0/llvJHeMCeW62cRVN6svkVtTzX3wRr63Wd7X68qahzIzy7GGr2nLeUum7gxDw7nMou4KHfjtMQVUjj18Syj0TglEoeuc072Ijo7SOH3dl8FNzC7WWcE47S1MOZ1cQk1VBVlk9oM/sHOzjwMggJ+6ZGCyaPvRChr+xkZLmL+JNj0/sVRnMYhHTyNDpZL7ans7764/jYW/BX/eMZqifY0+bddEjyzJ70sr4flcGm5KKaT3+0epk3v3vOADO1mYM83fkxpF+DPN3IsrbzuhD1vo6T80M54m/jpJX2cDX29N5aGrntW56C0LAeyHFNY2MeGOT4bkswwvL4zBRSCjb/ShQSqBUKDAzkbhnYjADfRx6zvg+SqNay8qj+Xy/M8PQR7EjHpkWwuWDvAh0Me5GARcjbrYnsjI/35rKVcN8DBm3vRUh4L2MbcklPP7nkTbb8iobAAhxt0Grk9HqZDQ6GY1ah0anNWxLL61Fp9MX6BGcO+Lyqlj4w35Ka5va7Rsd5MzH1w9GrZWZ8M4WGtRaglxtesBKwZmSWlzL/9YltYkVb1TreHNtIotuGNqDlp0eIeC9BI1Wx7v/Heer7emAvmefmVLBxkT9myqvsoFHp4dy9bDOi1O9uCKOPw7kUKfSCB/rOcTcRMH4EFfCPGwZHuBIiLstV32+m5TiWvakl7Hgu/28OjeKGZHu/L4/h4enhmBlJv7+vZ2SGhUfbUzm9wM5WJoq+b8ZYdSpNHy+VV/0as2xAm4eVdarK0WKRcxews6UUm76bp/huaWpEhdbM0NJUhcbcxaOCSDMw7bTa+xNL+O6r/fy6fVDuGyQ14Uw+6LlSE4lV36+Cw87CyRJIq+ygVB3G5KLanl9XhQ3jfLvaRMFnVDfpOGb7Rl8vT0NlUbHjc1NH5xtzKluVDPwZX3zB1dbc5ytzVj94Lgeb7YhFjF7OWOCnVn70HiszZW42Jif0Qh6eIATLjbmrI0taCPgsiyTVVbPnvQy4vL0DQr8nUUj3rNhsK8DVw/z4c+DuUwOc+WKId583Tx7+mFXBjeM8BPRQr0MjVbH3zG5fLAhmeIaFZdGefB/M8LauLzsLE4Ut5JlSCqs4bf92dw8OqAHLD49QsB7CQqFRITX2fXEUCokZg3w4M+DOSQVVnMsp4o96WXsTS+joKrRcMzVw3yEgJ8leZUN7EotA2DL8RJCPWxZ98h4XloZz970Mqoa1Dgaea3pvoIsy2w5Xszb/yaRXFTLUD8HvrhpaKdVIGcP9GTNsQI0Oh2jg5x5b30ycwZ69cr/pxDwPkJuRT170srYnFRMo1rHzI92APpwthB3GwqqGjFTKvjshiEMEeGIZ0VqcS03f7ePWpWG52f35/U1iXy1LZ37JvXj59tGUKvSYGth3GVK+wqxuVW8uTaRPellBDhb8cWNQ0/b+3JMsDNrjhXw/jWD8Ha0ZPYnO/lgQ3K7rva9ASHgRopaq2PV0Xz2pJWxJ72M3Ap9pErr9lDrH52AnYUpN323DwtTBV/dHM3EUFGT/WyIy6vilu/3I0nw+12jiPSyZ2dqKVuPlzDolfX8dNsI8TfuJfwXX8jdv+jbFSgVEuEeduzPLCe9tA5XG3NcbZvXl2zNcLY2N9QIH9zcAq9WpSHcw46bR/nz855Mrh/hd9az5HONEHAj5b/4Qh7780S9DYUEM6M8uGKID8sP57EpSR+9Mv+rPZTVqvjp1hGM7MWr6cbA/oxybv/xAHaWpvxy+wjc7SxIKqzG0/5ErPC9i2NIeHVmD1opaCHcw5YFo/0prlZRWqsiqbCanaml1Ko0HR7vYGWKi405jlb6QdDDvx8ht6IBH0f9//flVfH8cdeoXhXfL6JQjBSdTmZvehmxeVXE5VcTn1dFRlkdJ/877SxM+Pn2kYZRheDM2HK8mHsXx9Co1uFma45aq6OiXt3hsXGvzBDFxXoxDU1aSmtVlNSqKK1p+d2k31ajF/uDnTTn2PDoBELcO48EO1+IKJQ+hkIhMaafC2P6nWiGW6vSkFhQzdJDefy2X9+Z/ve7Rve6aZ+xsepoPo/+cYRQd1sSCqoprlG1O+aOcYFEBzhyz+JDbEosYu5g7x6wVNAVLM2U+DpZ4etk1eH+OpWGjzel8OOuTA48N43qRjUltSpUah393HpXkpYQ8D6EjbkJFiZK1sUV4G5nzpI7RtLP7cKPFvoSv+3P5tllscgyJBRUt9sf4GzFigfGYW9pik4n42Zrzr+xhULAjZSkwmpDAADAuHc2M2egFz6Olvg4WnIouxJfJ0tcbcx7hStFCHgfIiarnIXf6320P9w6nCCX3jVaMDZWHMnjmaWxgD4bU6XRdze6ZpgP/xzKZZi/I98vHG6IOFEoJC6N8uB3kQ1rtAQ4W+PnZEV2ub6KZE2jhv/iCymva1tGwdxEgbejJT6OVvg2/24R+VB32wv2vxc+8D7C7tRS7vj5IPVNWsI9bEkvqWPuYC/evWZQT5tmdMiyzIcbU9ibXoYsy9wyJoDJYW68uTaRJfv0rqnRQc58tzC6Xcr8vvQyrhXZsEbNtuQSbvl+PwCXD/Lik+uHUKfSkFfZQG5FPTnl+t+5FQ3kVjSQXV5PVcOJ9ZAhfg4su2/sObVJ+MD7MDFZ5Sz88QBNzSPE0tommrQ6XFpVVxN0nZIaFZ9sSjE8b1BrySqr59fmdYUJoa58ffOwDutFtzTJPTkbVmA8TAx1Zc5AT1YfK2Dl0Xw+uX4I1uYmhLrbEtq8gKnTyRzKrmDV0XxDkpyVmZJp/d25ZUzABbNVCHgfoKy2iUE+9owPceWSSHfSS+q4b8khJoe59bRpRklL9cdX50bSqNbyb1yhoc43QH8PW9JKaonwtGvnB1UqJGZGevBXTA71TRpR1MpIeX52BKuPFQBQVqvC2cYcWZaJzati1dF8Vh8roKCqEXMTBVPC3Zgz0Isp4W5Yml3Ymu/i3dUHuCTSg0siPQzPv9+Zga2FCUP9HHrOKCMmv1I/ohoR6ES4hx13TQimsKqR3w9ksyetjG92pPPV9nR8nSyZGenBzChPhvg6GGqfzBrgyS97s9iSVMLsgb2rNZega3jYW9DPzYbU4lo+2ZSCjYUJq44WkF1ej6lSYkKIK0/NDGdahHuPhowKAe9jyLLMnwdzAX2NjukR7j1skfGR3zwC92pVzN/D3oJHpoXyyDT9iGxjYhH/xhXy4+5MvtmRgbudOTMiPZgZ6cGwAEdcbMxYG1sgBNxISSupJaRZwH/ak4VSITEm2JkHJvdjRqQH9la9o1SCEPA+hEqj5c6fYwzPez7IyTjJq2zAxtykTWW61jjbmHPtcD+uHe5HdaOazYnFrIsr5M+DOfy8JwsnazN8HS3ZnFRMQ5P2gk+rBWdGTnm93ue9KQWVRockga25CfdMCuba4b642PS+NSUh4EaIVieTWFDN/oxykgqruWdiMI1qHY/9ecTQ7stEITEpTNTkOBPyKxvwcrDo0rF2FqbMG+LNvCHe1DdpeG5ZHMsO5zE8wJGjuVVklNaJRKpeTItr7KONKW22R3rZ8f3C4bjbde190FMIATcCGtVajuRUciCjnP2Z5RzOrjTUc7AxN6FWpWFDQhEOVifKXWp0Mn/H5DJ7oKeojNdN8qsa2rhPuopSIbE7rRRfJ0t2ppQyrp8L/T1FIlVvo7RWxaItqfywK7PD/fdNCuahqSG9qit9ZwgB74VU1as5mKUX6wMZ5cTmVaHWto3XtzU3YWp/N+Lzq1kbW8jsAZ68Pi+Kd9cf59d92VibKXl6aSwvr4rn0ihPrh7mw5hg516RPdbbKahsPKPG0P/E5FFUrcJUKWGmVPD2VQPE37uXUFzTyGurE1l1NL/TY3ydLHGzteDO8UFGId4gBLzXcf+SQ6yNK0CW9RUGB/s6cNlALzYkFlHTqB91myolalQalh858WbMq2zgqi93k15SB4C2OUGrUa1j2eE8lh3O44dbh4vQwtPQqNZSVtfU5W7kWp3M/9YlMTrYmS+36XspqrUyL1/eHx/HjmttCC4ch7IruPLz3e22z4z0oLy+if0Z5XjZWzB/uC+L92YTk1VBYkF1mxpDvRkh4L2MgT72xOdXkVlWj06G8romDmVXtjmm9Wjc0cqUIFcbrMyUHMnRH+dpb8Flg7ywNFViba7E0swEe0tTRotysqflRARK13yf1Q1qvt6ebminBvqGADeM8Dsv9gm6x/6McsNjT3sLHp4aQmWDmkWbU2nUaLl/cjDjQ1y5Z3EMdS1lZo1o0iQEvJdx98Rg7p4YTGZpHduSS9iWXEJRtYoGtbbNcQvHBPDinIg2fRdv/m4fqcW17Hhyco83YTVWWmLAW9f4PhUOVqZt6qSAPiOvsl60VOsN3DMxmLJaFd/syKCgqpGnm2vbjA9x4ZXLIympUXH7TwdxtDblmUvDeeqfWBRG5PY6YwGXJMkX+BlwB2Tga1mWPz5Xhl3sBLhYE+BizS1jAiiqbmTGR9upbFV/+sfdmWxIKGJCqCsTQ13xdbJkR0opj0wLEeJ9FrSMwLvqQpEkqY14A2xOKmbSe1t5aGoIN4/yN3R6EfQMLYv7mx6faKiXH+xqzfaUUu7+5SDeDpYsuWMUaSW1gFENwM9qBK4BHpdl+ZAkSbZAjCRJG2RZTjhHtgmALUnFPPnPMepUGv5vRhh3TwiiqEbF9uQSth0vYfXRfEPtb4UE1w737WGLjZu8ygYkiS6Hj7UuBjcqyIlf7xhFcnENr61O4LXVCSw7nMuK+8ehFB3qewyP5v+lQpIIdNU3814XV8CDvx0mxM2WX24fgbONOSnF+hBcY1p4PmMBl2W5AChoflwjSVIi4A0IAT8H1Kk0vL4mkd/2ZxPmbsuPtw4n0sse0I8Orx/hx/Uj/FBrdRzKqmBbcgmutuZdnvoLOia/sgE3W/Muj5q3p5QaHr9z1SAUCokmjY7yOv1sKdTNFqHdPYunvV7AC6oaCHSxZumhXP7v72MM8rHnh1tHGPrItnwXG9P/65z4wCVJCgCGAPs62HcXcBeAn59Y2OkqV3+5h6TCau6eGMRj00MxN+k4rMlUqWBkkLPod3mOKKhq7FYM+KLNqYbHNhYmvL46ge93ZeBiY86XNw1jZpTHKc4WXAjcmwW8qLqRxXuzeH55HGOCnflmQXSbut0tcykjGoCfvYBLkmQD/AM8Istyu5Ylsix/DXwN+nrgZ/t6FwsuNmbYmJlw+9jATsVbcO7Jr2yg/2kyJ2VZpqpBzepjBezPPBHlMPS1DQDcMNKPp2aGG0Z2gp6lxYXy6qoEKurVTA13Y9GNQ9vFeuuah+DdcaHodDJ1TRrqVFpqVRrqVBpKa1VklNaRXlpHZmkdGaV1XBLhzkuXRbYJOjgXnJWAS5Jkil68l8iyvPTcmCQAeOXySGZ+vINXVyfw2Q1De9qciwJZlsmrbGCgjz07U0opqm6kqKaR4moVxTWNrI0tBMDMRGGovX4yf949mhGBThfSbMFpsGquRVNRr2bOQE/eunIAtSoNRdWNzaKrpU6lYdUxfV7F9zsz2O5WQp1KQ23zvppGNbkVDWSU1qHRdX8c+tOeLJ6+tP85r4tzNlEoEvAdkCjL8gfnziQBQJCrDfdP6seHG5O5JrqEiaGirsn5pr5Ji0qjY/mR/DZJUkqFhLbVh3aonwPT+ruzPaWU/h62TAxz5YZv9vHmFQOEeJ9nKuqayK1oYICPfZfP+XlPluHx2tgCQ53vzjjd/lPh72xFoIs1Ac7WBLnqfwe6WOPlYHleFrLPZgQ+FrgZiJUk6UjztmdlWV571lYJALhnUhArjubxwvI41j86wWjSe40Va3MTvr55GI0aHe625rjZWVBU3cizy2LJKK3jltEBbEoqIrGghpcui+SO8UGAPhvTRCGRV1nfw3fQ9/lhVwaLtqax4v6xRHm3FfHK+ib+jsnlyqE+OLWKwQ/3OFGP5gwGzwZeviwCNzsL3GzNcW3+6emGHWcThbIT4wqZNDrMTZS8Pi+KG77Zx6ebU/i/GeE9bVKfp6UxhlYn8+W2ND7ckIyLjTlLbh/JmH4u3D4ukPlf7eGmb/fxx92j6edmg1Ih4WFvQV5FwwWxUaeTOZBZzhA/x/MaY67TyZ36bFcfy2dvehn9Pe3o72lHuIftBREzE6UCrU7myb+PseKBsZi2ynnYeryE19ck8vqaRADumhDE45eEMjLImWuG+bA9pQQfRytisiraXNPXyZJQN1uyyutJLa7ltXlRTAp1xd7KlPi8aq7/Zi/PXBrOwrGB5/3+uovIxOzljAl24aqhPny1LZ25g70NPfnOBfmVDdhamIhqhR3wyqp4ft6TxeyBnrwxL8qQDOLrZMWSO0Yy/6u93PjtXv68ezT+ztZ4O1gaWrG1kFfZgARnVNmwBa1Opkmjo0mjQ6XVYq5UklNRz7Vf78XbwZL7JgdzzTDfMxLyRrW201nd/oxy5n+1h3/uHc0w//ZuoXVxhW1cDZIEgc7WPDwthLmDvbttS1exs9BLVkJBNV9vT+f+yf0M++YO9iKrrJ4PNyYDtClx4O1gSXGNil1PTek00e2/+ELu/iWGIb4O+DpZIcv6OjcedhYXtM9ldxApYkbAc7P7Y2NhwnPLYtGdzRywmUa1lrf/TWL8O1v4fmfm2RvYB2kp3n/vxOA2ZXpBvz6x5I6RNGl03PDNPvIqG/B2tGw3Ar/s052MeXszV3y+C7W240XPjvh8ayoRL64j+Nm1BD+7lv4vrmPQq+sZ8cYmhr6+AWtzE7zsLcirbOC5ZXFMfm8rv+3P7nRhtSPSSmoZ+eYmvmlVw6U19y7WNwbRaDt+v13e3LD5lcsj+frmYTw8NYSMsro2tUe6Q+uEqFNh1xzZE+Vtx8ebUkgtrjXskySJh6eFkPn2bI69fAnzBp9oKp1X2YAsw5P/HON4c8389ja0XEf/+7/4Io7kVPLItN5bWlYIuBHgZG3Gs5f250BmBX/F5JzVtfZnlDPr4x18uS2Nwb4OLBjtf46s7FvcMiYAOwsTPt6U0uH+MA9bfrl9JNWNam78Zi9mSgWF1Y1thPqD+YMAOJxdSchz//JffGGXXlul1lHfpOWqod48Oi2Up2aG88KcCB6eGoJWJxOXV8UNI/U5FS9dFoGrrTnPLI1lyvtb+X1/9mm/LJo0Oh75/QhVDWq+25mB5qTjZVmmrK4JoNP8gsnhbrjYmLErtZRLIj24drgvstzW39xVdqeWEvb8Oi79eAfPLD3G7/uzSSyoRqPVsSmxiK+2pXG8sAZZlg1dkh6bHoqlqZKn/znW4aDG0lTJK5dHsfvpKfywcDhmzaPupYfymPHRdgKeXsPln+1k0ZZU/jyQwy97s/hup/7L7NNNqby1NpF7mr/Erh7m0+17ulAIF4qRcE20D3/H5PLWv0lM6++OczfbO9WqNLyzLsmwIn9JhDufXD+k144sehp7S1NuGxfIRxtTiMurardgBhDlbc9Pt43g5m/38cfBHGRZ3+HF10lfRnZSmBspb1zKvEW7iM+v5u5fYnCxMWP1g+PxsO88Vf+qoT58vCkFf2frNi4ClUbLZ1tSOV5Ywy1jAvh4Uwo55Q0su28MW5NL+GhDMk8vjeWzLam8OCeiTaPr1ry/4TixeVVcN9yX3w/ksDGxuE3C0eHmqpYmp4iaMFUquHKoD9/vzCCnvJ4n/z4G6Gv4dJeWc9JLasmvbOC3/fpBiqWp0lDE7a1/kwAIcbMBQKuDF+ZE8MRfR4l+YyMuNmbUqbTUN2moa9J2aTZyLLeKY7lV7bavO+mLtjfXFpK6OnU5F0RHR8sHDx68YK/X10gpqmHWJzu4bJAXH8wf3OXztiWX8OzSWIOP9uZR/rx8eaSoz3EaqhrUjPvfZkYHOfP1guhOj9ubXsYt3+9HpdHx+12jGNXBqHVvehnXfb3X8PyRaSGMCHDCxda8w3WN+V/uobRWxdXRPvg7WRuaI0/7YBuBLtZ8syCah347zLr4Qm4a6c9dE4JwtzNn6/ESXlkVT2ZZPW9fOQAvB0sq6puoqGuivF7N6mP5hprxoe42JBfVMj7EhV9uH2l47bmf7eRobhXvXD2Q+dGd19aJy6tizqc722zb9+zUM2pD9vLKeH7Zm8WGRyegkCSO5lZyJKeSJXuzaeqi+2l6hDue9hZYmZlgbabEylz/29JMibmJAnMTJWYmCv2PUkFxjYr/4gv5N7aAuiZth9dMeHVGj0eaAEiSFCPLcrs3oRBwI+OddUl8vjWNbf83CX/nU492KuubeG11Iv8cyjVse2pmOPdMDDKqgj09yYcbkvl4UwprHhpnqEXTEduSS7jl+/3cNymY+dG++DpZtfuCrG/SMP2D7W0WO+0sTDj28ox21/vzQA5P/nPM8Pz+ycGMDnLhpu/01SoemRZCSlEta2LPLGY5wtOOrLI6g3BteWISgS7W6HQyQc/qI4FjX76kwwXuJo2OPw7msGhzKoXVjW32Zb49+4zsKalRMeGdLUxvnhm2UFarYtjrGwG4fVwgx3IrOZBZ0dlleHx6KPdP7tetjEdZlvkrJtcwi2jh1ztHMia4dzR26EzAe+/cQNAh84boV/hP9SYG+De2gGkfbDeIt4lC4sNrB3HvpGAh3t3gtnGB2FqY8EknvnDQC8DOlBIAPt+axqT3thLx4jpmf7KDR/84wiur4rn+672MenNTu0iV6kYNd/9y0FDGtoVLB7R1fyzakmYQb4CPNqawM7WUQBdrXG3bu9OG+TsC+jTyjY9NIOb5aUzr74apUmL1g+NYet8YNDqZ2QM9MVFI/LpP71o72CrE7mTxVmt1/HEgm8nvbeWF5XH4OFpy2SAvzgWutubcOjaAVcfy2ZRYxHc7M5j/1R6Gv7HRcEx2eT3fLxwOwMNTQ/jtzlFcP6LtDOH9DcksPZzX5detalDz8sr4duK9YLR/rxHvU9HzcwNBt+jnaoOthQmHsis6XFwpqVHxwvI41sUXYt4cWmZjbsKXNw1jXEjvf0P2NuwtTbl1bCCfbEohIb+6ww7zH29K4ZsdGSwY7c+VQ31ILqrhSE4lv+7LJj6/XXkgAMyUCoNr4L/4Iv6LL+L/ZoRxx3h97RtbC1PmDfZi+ZF8nrgklPfW60Pjxoe4sCOltMPwvsKqRr7ens6v+7M4lK0X4sLqRvY1R4ZsTCzm+dn9ifK2Z+vxYlQaHfOjfQ0j0McvCePH3RmAvrFvC1qdzIojeXy8KYWssnoG+djz5pUDmBDiQo1KY+gzGXQG/m/QfwGmFNfSpNEhy3D7T/pZepi7LQ9M7sfKo/lkltWzO7WUJo0OhaSvWzI62JnRwc68MW8AQ17bQFWDvgLkjEj3Lr3miiP5PPrnEVo7IS4b5MWDU/qd03Dd84kQcCNDoZAY4ufIoayOR+BP/XOMnamlTA5zZX9GOfa25vzQqhStoPvcPjaQH3Zm8MmmFL68eVibfd9sT+ejjSlcPcyHF+ZEsDutjN2ppfwXXwSAj6MlDlamxOWdEPJBvg4UVDZQXKNqc613/zvO3zG5LLphKBFedlw9zJflR/IJcLHm0AvTufarPexoLl+bVlzXTsA97C148bII7psczHc7M/hpdyb1TVqeWxYH6MX/tuZklK3HSzA3UTAy0AlThcTa2EJWHsk31HuZGeWBTiezOraAjzYmk15SR4SnHd8uiGZqfzfDLM6u1Sj9qm5Ea+h0MkdzK5u/vArJKK1rs/+jawczb4g3RdWNfLolldkDPFkbV8DXO9KxtTA19IcF/Wdi2X1jmPL+NoB2DcBPJrW4hnsXHyKlVQjivMFePDClH/3cjEO4WxACboQM83Pko03JVDeq23yAGtVadqWW4mRlxq7UMnydLPnpthGiue5ZYm9lyq1jA/hkcyqJBdX099SPwhfvzeKNtYkEu1pjY27C6Lc2U1qrwt7SlCuGejMj0oMtScX8tCcTH0dL/nfVQMa2apZbWd9EclEt25KLWbRF3xA5o7SO/+ILifCyY3SwM572FvwTk8ucgV4svmMk87/aQ1ZZPUmdxDKDPob9qZnh3DMhmLfXJRqiOjLL6jiYVcGIQCe2JZcwOtgZC1Mlo4OdCXK15vU1J0r551Y08H9/HeN4UQ2h7jZ8ceNQZkR6nNK33NDJQmALWp3M3vQy1sUVsj6hkKLqE19gNuYmRAc4opNhe3IJq48VMG+IN2uO6Rt8Pzo9FBOlxM+7szBRSlQ3qNtcO8jVhiuHerP0UB5XfbGbLU9M6tC+F1bE8XfMiTWheYO9eHBqCMGuNqe0vbciBNwIGervgCzrR1GzojwMYU6HsipQaXQUVjcyPMCRbxZEt0tCEZwZt40L5IddmXyyKYUvbhrGssO5vLBCP7JNK6kjp7yBKeFuzBvizeRwVw5nV/Lk38fILq9nwWh/npoZ3qb2NOhbfY0IdGJEoBOPTw/jx92ZvL0uie93ZuBkbcZNo/y5cqg3X2xNo7i6EXc7Cxbfrhfx6kZ1R2a2wd7KFJtWr5lT3sD8r/bgYWdBYXWjIQdAkiRuHOnPa6tPCPh9Sw4R5GrNJ9cPYc4Az06Fu3UQROvSuh3xy55MXl7Vcb8XjU5HYkE19pamDA9wZGRzUbCVR/OJ8LSjn5sND08NYdXRfBrUdHj/71w1kKWH8sgorSO3or7NwGXJvizDTARgcpgrL14WSeAZun16C0LAjZDBvg6YKRU89NthHlNI+Dha4udszfZk/ULa+BAXvlkQLWK8zyEOVmYsHBvAp5tTOZhZzhN/HUOWYUSAE/OGeDNrgAcOVmb6TkqrE/llbxb+zladhhWejEIhcdu4QKaEu/HCijheWhnP3zG53DE+EJ0My4/kcdeEYHydrNj42MQuhYBuTy7hmx0Z3DzKH1dbcz7YkEyIm43BdbBoSyrXDffD0kzJ1UN9DALu52TFw1NDmDvY67Qx0MeLTswE9meUk1Neb4iDP5nLB3vjaG2GrYUJdhamKJrfu/aWph3WvM8pr+dITiVPzdTXAApyteGKIT78cyiX6gZNu+NNlAq+vGko9yw+ZOhTeiSnknmLdhmOCXC24qfbRpw2gstYEAJuhNhamLLywbEcy60iq6yO2Lxqg3gD/HjrCMMHXKeT+WRzimEaKjhzbm8ehX+/K4NvFgwjxM22jVjtTCnlqX+OkV/VwG1jA3liRmi3Y4gDXKz5+bYRrDpWwKurEnj0jyNIEvwTk8ed4/XhnyeP5DuirFbF438dJcTNhhtG+rE3vQygjd+3xRUE+tH61icmUavSEOZh26ZI1Klocf3cPSGIr3ek81dMLo+d9D6rrG8iqbCG44U1HC/S/04urKFGpTllqN7K5sXRywZ5GrY9PDWE5UfyOp2BzIzybBPK+MCvhwyPNz8+kSAjdZV0hhBwIyXcw45wDztkWSbwmRMVfB+a0s8g3iqNlv/76xgrj+YbUq8FZ46DlRkLxwTw2ZZUHp4aahDvmkY1b67V+5qDXKz56+7RRAeceV1wSZK4fJAXE0Ndee+/4yzel8XxohoSC2o6jII5GVmWeeqfY5TUqKhpVHPpxzuAtpmNVwzx5sNrB7c570yyKBeM9qewqoERgU58tT2dTzal0NCkobBaRWFVA9nl9W183S0M9XPg0ihPhp/i77TqaD7D/B3buEL8nK24Y3wgWaVdK937252jUGm0Rrc42VWEgBs5aq1MuIetYVGrJcW+plHN3b/EsDutDDsLk3ajIsGZcfu4QH7crfeFL7pxKFuPF/PM0liKqhu5e0IQj04PPWeuK3tLU16bF8VVw3z4cVcGjtZdqxpZXKNiY2Ix1mZKRge7MCHUhQkhrgS4WLMrtZRbfzxwygzL7jA8wIk3rhjAJR9uN2z7ZkfGKc+J9nckxN2G0loVX29Px87CBDtLU+wsTLGz1LtXyuv0o/aXL4tod/4zl/bvsn2duXP6CkLAzwMNTVpSi2sJdrM+72m4aq2OQT4OBgF3sDKluLqRhT8cIKFAH7r2fzPCDNX1BGeHo7UZt4zx5/Otady7OIZ/4woJcbPh83vHMMTP8by85mBfBz66bsjpD2zG3c6CXU9PwdXGvF2Z2bH9XIh/ZUaXXSRdIdDFmiuHelNQ2cieZldNayxMFQwPcEKpkKhqUFNR38TGxGKqG9QGX3VHKCSYNdCz0/0CkUp/1lQ3qknIryYur4r45t9pJbXoZLh7YlC3RgvdJSargsf+PEJ2eX2bZITWtakjvexY+cA4UffkHFJR18S4/22mUaPjnolBPDQ1RDSebubXfdnsTS9jeoQ7k8Pd2kTBdESjWktNo4bqRjXVDWqqGtRUN2qoblDjaW/B1P6nT8q5GOgslV6MwLtBeV0T8flVxOVVE5dfRXxeFZllJ3xx7nbmRHnZc+kAT1YeySOhkyy8s0Wt1fHp5lQ+25yCp70lv985iupGDXf+rP9ybJ2u/dq8KCHe5xhHazN+vXMU5qYKwj1O75O+mLhhpF+31lssTJVYmCo7LAcgOD1CwDuhuLqRuBaxbh5dtxZGXydLorzsuSbalwgvOyK97HCzPVGFLae8/oyL25+K9JJaHv3jCEdzq3CwMmVGpAdfbEtj6/ETUShmSgWR3nZcOdSHoedpWn+xM8jXoadNEAiEgMuyTG5FQ5uRdVxeNaW1+pVzSdL7+Ib5O3LLGH+ivOyJ8LI7bYJMsKs1yw7nUd+kOWs/eK1KQ2xuFc8vjyWt5ETKcWW9mh93Z7Sp2/DNgmgmhrqe116JAoGgd3BRCbhOJ5NZVkdcfjXxeVUGsW4pgqNUSIS42TAx1JUobzuivO3p72l3Wj9eR7Sk5qaX1HXYDKAzVBotSQU1xGRV8PuBbJKLapEk2vi4w9xtuXqYD4N8HYj0ssPa3IRvd6Tz+ppERgY5CfEWCC4S+qyAa7Q60krqiGsW6vi8auLzqwz1j82UCsI9bZk1wJMobzsivewJ97A9ZyFgwc2dQ9JKajsVcJ1OJq2klqO5VexKLWVZJ2Uw7xgXyJh+LpTVNvHs0ljMTBTMj/bF3upEWFmtSp+ZZt0Lis8LBIILQ5/4tKs0WpILa5tH1FXE5VeTVFBtCFGyNFU2V3fzIdLbnigve0Lcbc5pKNXJ+DtboZBo4/JozYHMcq75ck+n50+PcKemUc2RnEqendXfUP3N2dqMu3+J4cbv9rL49pEGV05xjQoLU4VYsBQILiKMTsDrmzQkFtQ0+6z1LpDkoho0zY1Nbc1NiPS24+ZR/kR52xPlbUegi80FFzZzEyV+TlakldSi1ckkFlQTk1XBgcxyYrIqKKhq7PC8IBdrJoS6Mszfka+3p+PnZNWmAcPkcDe+unmYXsS/3ceSO0ZyvLCGPw7kMGuAiJkVCC4mjCIO/O+YXHallraJsQZ9t/Yob3uivPQukChvO3wdrbrVTul8cvuPB9iUpM+Ia3HdeNhZEB3gSLS/I9EBToR72FLXpOVwdgUxWRUczKzgSE6lIeUZ9EXmh/k5GI43USrYcryYu3+Jwd7SlMr6JnydrFhx/9gOW2AJBALjxqjjwDcnFXEoq5Iob7tmn7VerD3sLHp1e7BgNxs2JRUbOq84W5tx3Qhf5g32blN3wt5SwaQwNyaFuQH6OO/Egmou/0xfRe1ARrmh64mVmZLBvg5E+zty3XBfQ5f5t68cKMRbILjIMAoB//DawUaZ6Rbsqhfp5fePJT6vmuXNbak+2pjCED8H5g32Zs5AT0P9khZMlQo8mjt7vzo3kgWjA8irbOBgZjmHsio4mFXBZ1tSDTMR0Hf1/ufeMViaGd/fSSAQnBlGIeDGKN5wIpQwp7ye+cN9mT/cl4KqBlYeyWf5kXxeWhnPq6sTmBjqytzBXlwS4WEQ4KxyfYanX3MxHm8HS7wHezN3sL6p8e/7s3l6aSygr/+dU15PZUMTlmaWF/o2BQJBD2EUAm6sRHrZ4+1gySurEhjm74SrrTme9pbcPTGYuycGk1RYzfLD+aw8ksfmZl/5jCgP5g32prB5kbOjwvPJRTW8ujqBaH9Hfr1zlIj7FgguUs5qEVOSpJnAx4AS+FaW5bdPdXxfLGZ1OuLzq7jqi91Eedmz5M6RHc4mdDqZ/ZnlLD+cx5rYgjYNW/+5dwxD/RwMvv6aRjVzP9tFdaOGNQ+Nw93Oot31BAJB3+KcL2JKkqQEFgHTgVzggCRJK2VZ7rjp3UWAWqsjv7KBJo2O+iYttSoNNY0aRgU5s/V4CWHPr+OuCUHUNGqa96mpNTzWP28t3gBXfbGbYFdrrhiid5+8sSaRrPJ6ltwxUoi3QHCRczYulBFAqizL6QCSJP0OzAUuWgGf+9kuQw3uzvh6ezouNubYWZhgY2GCjbkJ/jZW2JibYmthgm3zNhsLEwJdrMkqq2fZ4TzeW5/Me+uTAXh2VniX+iwKBIK+zdkIuDeQ0+p5LjDy5IMkSboLuAvAz69vt/V6+tJwnl2mT3U3N1HqfysVmJsqMFMqsDBVcteEoG5VshsTDNeP8CO3op6VR/NRa2TuHB90/m5CIBAYDWfsA5ck6WpgpizLdzQ/vxkYKcvyA52dczH6wAUCgeBs6cwHfjbhC3lA68Z6Ps3bBAKBQHABOBsBPwCESJIUKEmSGXAdsPLcmCUQCASC03HGPnBZljWSJD0A/Ic+jPB7WZbjz5llAoFAIDglZ5XII8vyWmDtObJFIBAIBN1ApPAJBAKBkSIEXCAQCIwUIeACgUBgpAgBFwgEAiPlgnbkkSSpBMg6i0u4AKXnyJwLjbHabqx2g7C9JzBWu6F32+4vy7LryRsvqICfLZIkHewoG8kYMFbbjdVuELb3BMZqNxin7cKFIhAIBEaKEHCBQCAwUoxNwL/uaQPOAmO13VjtBmF7T2CsdoMR2m5UPnCBQCAQnMDYRuACgUAgaEYIuEAgEBgpRifgkiS9K0lSkiRJxyRJWiZJkkNP23QqJEmaKUnScUmSUiVJerqn7ekqkiT5SpK0RZKkBEmS4iVJerinbeoOkiQpJUk6LEnS6p62pTtIkuQgSdLfze/xREmSRve0TV1FkqRHm98rcZIk/SZJUq9t2ipJ0veSJBVLkhTXapuTJEkbJElKaf7t2JM2dgWjE3BgAxAly/JAIBl4poft6ZRWjZ8vBSKA6yVJiuhZq7qMBnhcluUIYBRwvxHZDvAwkNjTRpwBHwPrZFkOBwZhJPcgSZI38BAQLctyFPoS09f1rFWn5Edg5knbngY2ybIcAmxqft6rMToBl2V5vSzLLa3b96LvBNRbMTR+lmW5CWhp/NzrkWW5QJblQ82Pa9ALiXfPWtU1JEnyAWYD3/a0Ld1BkiR7YALwHYAsy02yLFf2qFHdwwSwlCTJBLAC8nvYnk6RZXk7UH7S5rnAT82PfwLmXUibzgSjE/CTuA34t6eNOAUdNX42ChFsjSRJAcAQYF8Pm9JVPgKeBHQ9bEd3CQRKgB+a3T/fSpJk3dNGdQVZlvOA94BsoACokmV5fc9a1W3cZVkuaH5cCLj3pDFdoVcKuCRJG5v9aCf/zG11zHPop/lLes7Svo8kSTbAP8AjsixX97Q9p0OSpDlAsSzLMT1tyxlgAgwFvpBleQhQhxFM4wGa/cVz0X8JeQHWkiTd1LNWnTmyPr6618dYn1VHnvOFLMvTTrVfkqSFwBxgqty7A9mNuvGzJEmm6MV7iSzLS3vani4yFrhckqRZgAVgJ0nSYlmWjUFMcoFcWZZbZjp/YyQCDkwDMmRZLgGQJGkpMAZY3KNWdY8iSZI8ZVkukCTJEyjuaYNOR68cgZ8KSZJmop8eXy7Lcn1P23MajLbxsyRJEnpfbKIsyx/0tD1dRZblZ2RZ9pFlOQD933uzkYg3siwXAjmSJIU1b5oKJPSgSd0hGxglSZJV83tnKkayANuKlcAtzY9vAVb0oC1doleOwE/DZ4A5sEH/PmGvLMv39KxJHWPkjZ/HAjcDsZIkHWne9mxzH1TB+eNBYEnzF346cGsP29MlZFneJ0nS38Ah9K7Nw/Ti1HRJkn4DJgEukiTlAi8BbwN/SpJ0O/qy1/N7zsKuIVLpBQKBwEgxOheKQCAQCPQIARcIBAIjRQi4QCAQGClCwAUCgcBIEQIuEAgERooQcIFAIDBShIALBAKBkfL/plk72Oj/zHcAAAAASUVORK5CYII=\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "X =[]\n",
    "for i in range(0,len(m)):\n",
    "    X.append(np.random.multivariate_normal(m[i],P[i]))\n",
    "x = [a[1] for a in X]\n",
    "y = [a[2] for a in X]\n",
    "fig1 = plt.figure(1)\n",
    "axes1 = fig1.subplots(1, 1)\n",
    "axes1.plot(x, y,label='parametric curve')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "bb710fea",
   "metadata": {},
   "source": [
    "# UKF для расстояний и угла"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "id": "0dc2b76d",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1\n",
      "ODOMETRY 0.101373685667 0.0996252285934 0.000862235559071\n",
      "\n",
      "m_ = \n",
      "[0.10223592 0.09911376 0.01008209]\n",
      "p_ = \n",
      "[[ 1.20000000e+00 -1.00820876e-02  9.91137613e-02]\n",
      " [-1.00820876e-02  1.20010165e+00 -9.99273622e-04]\n",
      " [ 9.91137613e-02 -9.99273622e-04  1.20982354e+00]]\n",
      "num = \n",
      "2\n",
      "SENSOR 1 2.29725290252 0.353956815014\n",
      "\n",
      "num = \n",
      "3\n",
      "SENSOR 2 4.01825728983 1.51507415344\n",
      "\n",
      "num = \n",
      "4\n",
      "ODOMETRY 0.101823187296 0.0997248889496 -0.000206654546125\n",
      "\n",
      "m_ = \n",
      "[0.1787985  0.06499908 0.01019369]\n",
      "p_ = \n",
      "[[ 0.26961529  0.06117729 -0.03317275]\n",
      " [ 0.06117729  0.42816142 -0.05038303]\n",
      " [-0.03317275 -0.05038303  0.33455183]]\n",
      "num = \n",
      "5\n",
      "SENSOR 1 1.96846687533 0.276209105501\n",
      "\n",
      "num = \n",
      "6\n",
      "SENSOR 2 3.87986704568 1.40393072429\n",
      "\n",
      "num = \n",
      "7\n",
      "ODOMETRY 0.100901695741 0.0997582630735 -0.000381616354179\n",
      "\n",
      "m_ = \n",
      "[0.29832148 0.27280057 0.11838227]\n",
      "p_ = \n",
      "[[ 0.25662272  0.04251589 -0.02330333]\n",
      " [ 0.04251589  0.36905693 -0.03549679]\n",
      " [-0.02330333 -0.03549679  0.30471059]]\n",
      "num = \n",
      "8\n",
      "SENSOR 1 1.96852886749 0.242784804425\n",
      "\n",
      "num = \n",
      "9\n",
      "SENSOR 2 3.87971065887 1.32647676387\n",
      "\n",
      "num = \n",
      "10\n",
      "ODOMETRY 0.0997651394437 0.0997993534855 -0.000208097310853\n",
      "\n",
      "m_ = \n",
      "[0.37636738 0.35167559 0.13618614]\n",
      "p_ = \n",
      "[[ 0.25571928  0.03828399 -0.02082252]\n",
      " [ 0.03828399  0.35273751 -0.02463413]\n",
      " [-0.02082252 -0.02463413  0.29590827]]\n",
      "num = \n",
      "11\n",
      "SENSOR 1 1.87508331126 0.0936569272975\n",
      "\n",
      "num = \n",
      "12\n",
      "SENSOR 2 3.849192179 1.20772931615\n",
      "\n",
      "num = \n",
      "13\n",
      "ODOMETRY 0.0988021399415 0.100360366225 -0.00122883669589\n",
      "\n",
      "m_ = \n",
      "[0.50794836 0.42441172 0.18594114]\n",
      "p_ = \n",
      "[[ 0.25568964  0.03686554 -0.02012026]\n",
      " [ 0.03686554  0.34787267 -0.02057531]\n",
      " [-0.02012026 -0.02057531  0.29300933]]\n",
      "num = \n",
      "14\n",
      "SENSOR 1 1.64421872619 -0.0593514730712\n",
      "\n",
      "num = \n",
      "15\n",
      "SENSOR 2 3.95417280741 1.25970767463\n",
      "\n",
      "num = \n",
      "16\n",
      "ODOMETRY 0.0998731020684 0.0998098334361 0.000926085589796\n",
      "\n",
      "m_ = \n",
      "[0.61011842 0.6031665  0.2291606 ]\n",
      "p_ = \n",
      "[[ 0.25588782  0.03585669 -0.02010268]\n",
      " [ 0.03585669  0.34406913 -0.01740571]\n",
      " [-0.02010268 -0.01740571  0.29106403]]\n",
      "num = \n",
      "17\n",
      "SENSOR 1 1.64079501221 -0.137553375677\n",
      "\n",
      "num = \n",
      "18\n",
      "SENSOR 2 3.59759872767 1.04090139691\n",
      "\n",
      "num = \n",
      "19\n",
      "ODOMETRY 0.100314651053 0.0996200579912 0.000575268519869\n",
      "\n",
      "m_ = \n",
      "[0.71982845 0.60599627 0.38031047]\n",
      "p_ = \n",
      "[[ 0.2571288   0.03649283 -0.0197653 ]\n",
      " [ 0.03649283  0.34097522 -0.01196149]\n",
      " [-0.0197653  -0.01196149  0.28663071]]\n",
      "num = \n",
      "20\n",
      "SENSOR 1 1.63668963967 -0.164205155951\n",
      "\n",
      "num = \n",
      "21\n",
      "SENSOR 2 3.76733107867 1.02783331425\n",
      "\n",
      "num = \n",
      "22\n",
      "ODOMETRY 0.100066427373 0.0997787196014 0.00016140029208\n",
      "\n",
      "m_ = \n",
      "[0.77265031 0.63860931 0.35146551]\n",
      "p_ = \n",
      "[[ 0.25640593  0.03240662 -0.02054201]\n",
      " [ 0.03240662  0.33337304 -0.00878548]\n",
      " [-0.02054201 -0.00878548  0.28564073]]\n",
      "num = \n",
      "23\n",
      "SENSOR 1 1.35096574442 -0.290175121698\n",
      "\n",
      "num = \n",
      "24\n",
      "SENSOR 2 3.77521988295 0.983315510779\n",
      "\n",
      "num = \n",
      "25\n",
      "ODOMETRY 0.100757002056 0.0998428685737 -0.000211648847469\n",
      "\n",
      "m_ = \n",
      "[0.88416027 0.81189445 0.40922266]\n",
      "p_ = \n",
      "[[ 0.25661441  0.03242353 -0.02062927]\n",
      " [ 0.03242353  0.33261245 -0.00805651]\n",
      " [-0.02062927 -0.00805651  0.2851321 ]]\n",
      "num = \n",
      "26\n",
      "SENSOR 8 4.9185663896 -0.395438658587\n",
      "\n",
      "num = \n",
      "27\n",
      "SENSOR 1 1.34647237204 -0.509755484258\n",
      "\n",
      "num = \n",
      "28\n",
      "SENSOR 2 3.71427679672 0.92294567505\n",
      "\n",
      "num = \n",
      "29\n",
      "ODOMETRY 0.100962422572 0.0998534959103 0.000658662316867\n",
      "\n",
      "m_ = \n",
      "[1.02107244 0.85621664 0.50977718]\n",
      "p_ = \n",
      "[[ 0.24036994  0.02159698 -0.02054459]\n",
      " [ 0.02159698  0.28967657 -0.01562942]\n",
      " [-0.02054459 -0.01562942  0.27504526]]\n",
      "num = \n",
      "30\n",
      "SENSOR 8 4.87575158242 -0.471161323013\n",
      "\n",
      "num = \n",
      "31\n",
      "SENSOR 1 1.14340287924 -0.63651274602\n",
      "\n",
      "num = \n",
      "32\n",
      "SENSOR 2 3.52742272729 0.827358592505\n",
      "\n",
      "num = \n",
      "33\n",
      "ODOMETRY 0.0992390051029 0.100115677426 -0.000216811832096\n",
      "\n",
      "m_ = \n",
      "[1.10280455 0.90860806 0.64336523]\n",
      "p_ = \n",
      "[[ 0.23971325  0.01884761 -0.02057816]\n",
      " [ 0.01884761  0.28311788 -0.01290034]\n",
      " [-0.02057816 -0.01290034  0.27214323]]\n",
      "num = \n",
      "34\n",
      "SENSOR 8 4.72075160291 -0.539321605004\n",
      "\n",
      "num = \n",
      "35\n",
      "SENSOR 1 1.21638996495 -0.860593555215\n",
      "\n",
      "num = \n",
      "36\n",
      "SENSOR 2 3.70903844372 0.752159761487\n",
      "\n",
      "num = \n",
      "37\n",
      "ODOMETRY 0.0489965903845 0.100051905877 -0.000257629385974\n",
      "\n",
      "m_ = \n",
      "[1.16932116 0.94889123 0.68675784]\n",
      "p_ = \n",
      "[[ 0.23952845  0.01636301 -0.02084641]\n",
      " [ 0.01636301  0.27934871 -0.00988994]\n",
      " [-0.02084641 -0.00988994  0.26869186]]\n",
      "num = \n",
      "38\n",
      "SENSOR 8 4.86663909002 -0.673941110611\n",
      "\n",
      "num = \n",
      "39\n",
      "SENSOR 1 1.19962918841 -0.911110534625\n",
      "\n",
      "num = \n",
      "40\n",
      "SENSOR 2 3.4305673166 0.673488499054\n",
      "\n",
      "num = \n",
      "41\n",
      "ODOMETRY 0.0998222275061 0.0996351296598 -0.000153756252698\n",
      "\n",
      "m_ = \n",
      "[1.27015659 0.87000857 0.7673727 ]\n",
      "p_ = \n",
      "[[ 0.23953561  0.01535913 -0.0210588 ]\n",
      " [ 0.01535913  0.27786649 -0.00842791]\n",
      " [-0.0210588  -0.00842791  0.26660706]]\n",
      "num = \n",
      "42\n",
      "SENSOR 8 4.58351837652 -0.750587339257\n",
      "\n",
      "num = \n",
      "43\n",
      "SENSOR 1 1.19033672649 -1.04401316016\n",
      "\n",
      "num = \n",
      "44\n",
      "SENSOR 2 3.21903139503 0.608609177764\n",
      "\n",
      "num = \n",
      "45\n",
      "ODOMETRY 0.101077500499 0.0998498505796 -0.000160756806792\n",
      "\n",
      "m_ = \n",
      "[1.32674361 0.89760235 0.92637643]\n",
      "p_ = \n",
      "[[ 0.23868795  0.01340032 -0.02157984]\n",
      " [ 0.01340032  0.27686894 -0.00943156]\n",
      " [-0.02157984 -0.00943156  0.26957777]]\n",
      "num = \n",
      "46\n",
      "SENSOR 8 4.47638974681 -0.87477261163\n",
      "\n",
      "num = \n",
      "47\n",
      "SENSOR 1 0.930451391422 -1.25663412504\n",
      "\n",
      "num = \n",
      "48\n",
      "SENSOR 2 3.30661799717 0.524107985292\n",
      "\n",
      "num = \n",
      "49\n",
      "ODOMETRY 0.100521808815 0.100140214715 -0.00102153918024\n",
      "\n",
      "m_ = \n",
      "[1.45793333 1.03010256 0.99344328]\n",
      "p_ = \n",
      "[[ 0.23803196  0.01020743 -0.02211124]\n",
      " [ 0.01020743  0.2742351  -0.00847154]\n",
      " [-0.02211124 -0.00847154  0.26851307]]\n",
      "num = \n",
      "50\n",
      "SENSOR 8 4.42544858746 -1.03059237397\n",
      "\n",
      "num = \n",
      "51\n",
      "SENSOR 1 1.09621121037 -1.43900397462\n",
      "\n",
      "num = \n",
      "52\n",
      "SENSOR 2 3.2382990193 0.518547924017\n",
      "\n",
      "num = \n",
      "53\n",
      "ODOMETRY 0.0991500821073 0.10013162298 0.00061821939171\n",
      "\n",
      "m_ = \n",
      "[1.54113293 1.01069133 1.09367378]\n",
      "p_ = \n",
      "[[ 0.23829971  0.00856858 -0.02214834]\n",
      " [ 0.00856858  0.2726797  -0.0071945 ]\n",
      " [-0.02214834 -0.0071945   0.26193667]]\n",
      "num = \n",
      "54\n",
      "SENSOR 8 4.48032266707 -1.16853964317\n",
      "\n",
      "num = \n",
      "55\n",
      "SENSOR 1 1.05453646597 -1.57360343045\n",
      "\n",
      "num = \n",
      "56\n",
      "SENSOR 2 3.12147771546 0.369604279194\n",
      "\n",
      "num = \n",
      "57\n",
      "ODOMETRY 0.000277686359907 0.0999909476789 -5.65207074877e-05\n",
      "\n",
      "m_ = \n",
      "[1.55444341 0.9762136  1.1491854 ]\n",
      "p_ = \n",
      "[[ 0.23743147  0.00631847 -0.02188731]\n",
      " [ 0.00631847  0.27096692 -0.00754721]\n",
      " [-0.02188731 -0.00754721  0.26338428]]\n",
      "num = \n",
      "58\n",
      "SENSOR 8 4.51041519435 -1.13505398802\n",
      "\n",
      "num = \n",
      "59\n",
      "SENSOR 1 1.01408592378 -1.6209817432\n",
      "\n",
      "num = \n",
      "60\n",
      "SENSOR 2 3.0349959581 0.307197125698\n",
      "\n",
      "num = \n",
      "61\n",
      "ODOMETRY -0.000206028015542 0.100097050614 0.00122219552996\n",
      "\n",
      "m_ = \n",
      "[1.56402583 0.95084113 1.1905389 ]\n",
      "p_ = \n",
      "[[ 0.2368307   0.00520374 -0.02169637]\n",
      " [ 0.00520374  0.27002335 -0.00755125]\n",
      " [-0.02169637 -0.00755125  0.26579892]]\n",
      "num = \n",
      "62\n",
      "SENSOR 8 4.47730873513 -1.08933708692\n",
      "\n",
      "num = \n",
      "63\n",
      "SENSOR 1 0.977458402036 -1.79104939149\n",
      "\n",
      "num = \n",
      "64\n",
      "SENSOR 2 2.7939870742 0.344183271835\n",
      "\n",
      "num = \n",
      "65\n",
      "ODOMETRY -0.000589698440506 0.100045946005 -1.26097962524e-05\n",
      "\n",
      "m_ = \n",
      "[1.53667395 0.95278187 1.35983816]\n",
      "p_ = \n",
      "[[ 0.23641703  0.00447894 -0.02140212]\n",
      " [ 0.00447894  0.26938678 -0.00738966]\n",
      " [-0.02140212 -0.00738966  0.26747439]]\n",
      "num = \n",
      "66\n",
      "SENSOR 8 4.31671160573 -1.13337841163\n",
      "\n",
      "num = \n",
      "67\n",
      "SENSOR 1 0.886564013958 -1.96817341764\n",
      "\n",
      "num = \n",
      "68\n",
      "SENSOR 2 2.8062997236 0.378866179691\n",
      "\n",
      "num = \n",
      "69\n",
      "ODOMETRY 0.000268189622775 0.099944716103 0.000225158589822\n",
      "\n",
      "m_ = \n",
      "[1.56335259 1.05964935 1.46828895]\n",
      "p_ = \n",
      "[[ 0.23519186  0.00152583 -0.02029228]\n",
      " [ 0.00152583  0.26674115 -0.00640217]\n",
      " [-0.02029228 -0.00640217  0.26990583]]\n",
      "num = \n",
      "70\n",
      "SENSOR 8 4.44217614349 -1.17703179109\n",
      "\n",
      "num = \n",
      "71\n",
      "SENSOR 1 1.00399386332 -1.97871776411\n",
      "\n",
      "num = \n",
      "72\n",
      "SENSOR 2 2.87352149613 0.402848100533\n",
      "\n",
      "num = \n",
      "73\n",
      "ODOMETRY -0.000740364779592 0.0999166193458 0.000304584312929\n",
      "\n",
      "m_ = \n",
      "[1.56927642 1.02403893 1.48208086]\n",
      "p_ = \n",
      "[[ 0.23457201 -0.00117097 -0.01919801]\n",
      " [-0.00117097  0.26395761 -0.00625765]\n",
      " [-0.01919801 -0.00625765  0.26828776]]\n",
      "num = \n",
      "74\n",
      "SENSOR 8 4.41002211254 -1.2055058086\n",
      "\n",
      "num = \n",
      "75\n",
      "SENSOR 1 1.20240484656 -2.09055794649\n",
      "\n",
      "num = \n",
      "76\n",
      "SENSOR 2 2.61257298591 0.400689815362\n",
      "\n",
      "num = \n",
      "77\n",
      "ODOMETRY -0.00093907783548 0.0999937264589 -0.000488136208846\n",
      "\n",
      "m_ = \n",
      "[1.56353714 0.94564786 1.65060163]\n",
      "p_ = \n",
      "[[ 0.23435814 -0.00109956 -0.01897879]\n",
      " [-0.00109956  0.26410297 -0.00562674]\n",
      " [-0.01897879 -0.00562674  0.26951252]]\n",
      "num = \n",
      "78\n",
      "SENSOR 8 4.28220992404 -1.22818070834\n",
      "\n",
      "num = \n",
      "79\n",
      "SENSOR 1 1.35806022311 -2.03308175218\n",
      "\n",
      "num = \n",
      "80\n",
      "SENSOR 2 2.41796456399 0.428960172356\n",
      "\n",
      "num = \n",
      "81\n",
      "ODOMETRY 0.000672986065937 0.0999170760041 9.59803128141e-05\n",
      "\n",
      "m_ = \n",
      "[1.51300724 0.88717002 1.79909449]\n",
      "p_ = \n",
      "[[ 0.23313204 -0.00203511 -0.01698154]\n",
      " [-0.00203511  0.26362504 -0.00268187]\n",
      " [-0.01698154 -0.00268187  0.2741006 ]]\n",
      "num = \n",
      "82\n",
      "SENSOR 8 4.22916152226 -1.1920443901\n",
      "\n",
      "num = \n",
      "83\n",
      "SENSOR 1 1.43456173466 -2.20151685421\n",
      "\n",
      "num = \n",
      "84\n",
      "SENSOR 2 2.54268409924 0.418576167122\n",
      "\n",
      "num = \n",
      "85\n",
      "ODOMETRY -0.000190086120117 0.0998500295775 -0.00120829073569\n",
      "\n",
      "m_ = \n",
      "[1.53243154 0.92578796 1.87084454]\n",
      "p_ = \n",
      "[[ 2.32244674e-01 -2.39749090e-03 -1.53395729e-02]\n",
      " [-2.39749090e-03  2.63562944e-01 -7.79039232e-05]\n",
      " [-1.53395729e-02 -7.79039232e-05  2.77125810e-01]]\n",
      "num = \n",
      "86\n",
      "SENSOR 8 4.25479049036 -1.29393177827\n",
      "\n",
      "num = \n",
      "87\n",
      "SENSOR 1 1.3915222382 -2.32656801851\n",
      "\n",
      "num = \n",
      "88\n",
      "SENSOR 2 2.22979301015 0.456482047365\n",
      "\n",
      "num = \n",
      "89\n",
      "ODOMETRY 0.000473163132143 0.09995123511 -0.000781756651883\n",
      "\n",
      "m_ = \n",
      "[1.55931256 0.9375867  2.03853387]\n",
      "p_ = \n",
      "[[ 0.23183941 -0.00310718 -0.01442311]\n",
      " [-0.00310718  0.2631052   0.00092636]\n",
      " [-0.01442311  0.00092636  0.27727737]]\n",
      "num = \n",
      "90\n",
      "SENSOR 8 4.18161649136 -1.28816567381\n",
      "\n",
      "num = \n",
      "91\n",
      "SENSOR 1 1.3025278855 -2.3472367671\n",
      "\n",
      "num = \n",
      "92\n",
      "SENSOR 2 2.30576040901 0.369157306239\n",
      "\n",
      "num = \n",
      "93\n",
      "ODOMETRY -0.000559278187115 0.100028723409 9.13999205286e-06\n",
      "\n",
      "m_ = \n",
      "[1.59586532 0.97128653 2.01932797]\n",
      "p_ = \n",
      "[[ 0.23105523 -0.00349733 -0.01234096]\n",
      " [-0.00349733  0.26297566  0.00310922]\n",
      " [-0.01234096  0.00310922  0.27820998]]\n",
      "num = \n",
      "94\n",
      "SENSOR 8 4.17489666144 -1.34658482855\n",
      "\n",
      "num = \n",
      "95\n",
      "SENSOR 1 1.3978512621 -2.36482377797\n",
      "\n",
      "num = \n",
      "96\n",
      "SENSOR 2 2.11259117923 0.471244681669\n",
      "\n",
      "num = \n",
      "97\n",
      "SENSOR 7 5.05551177517 -0.919442363958\n",
      "\n",
      "num = \n",
      "98\n",
      "ODOMETRY 0.000257701615542 0.10004347626 -0.000159471500187\n",
      "\n",
      "m_ = \n",
      "[1.57051218 0.95937315 2.1329437 ]\n",
      "p_ = \n",
      "[[ 2.24373699e-01 -2.07178358e-04 -1.11614877e-02]\n",
      " [-2.07178358e-04  2.52052812e-01 -6.16094542e-03]\n",
      " [-1.11614877e-02 -6.16094542e-03  2.69273431e-01]]\n",
      "num = \n",
      "99\n",
      "SENSOR 8 3.962669916 -1.30912369209\n",
      "\n",
      "num = \n",
      "100\n",
      "SENSOR 1 1.70916168099 -2.46045075948\n",
      "\n",
      "num = \n",
      "101\n",
      "SENSOR 2 2.02595774502 0.554005367169\n",
      "\n",
      "num = \n",
      "102\n",
      "SENSOR 3 4.7371187823 -0.173423905805\n",
      "\n",
      "num = \n",
      "103\n",
      "SENSOR 7 4.82701773051 -0.911583275309\n",
      "\n",
      "num = \n",
      "104\n",
      "ODOMETRY -0.000132246838171 0.100204785792 0.000451918927672\n",
      "\n",
      "m_ = \n",
      "[1.52824353 1.01849913 2.38388817]\n",
      "p_ = \n",
      "[[ 0.21946326  0.0019189  -0.00696076]\n",
      " [ 0.0019189   0.25037198 -0.0071267 ]\n",
      " [-0.00696076 -0.0071267   0.25252122]]\n",
      "num = \n",
      "105\n",
      "SENSOR 8 3.98259516004 -1.43618538277\n",
      "\n",
      "num = \n",
      "106\n",
      "SENSOR 1 1.79511416601 -2.47746949194\n",
      "\n",
      "num = \n",
      "107\n",
      "SENSOR 2 2.06053687043 0.463761690139\n",
      "\n",
      "num = \n",
      "108\n",
      "SENSOR 3 4.8224768036 -0.239591007404\n",
      "\n",
      "num = \n",
      "109\n",
      "SENSOR 7 4.77817974323 -1.00970624708\n",
      "\n",
      "num = \n",
      "110\n",
      "ODOMETRY 0.000547071844751 0.100153178582 -0.00035008972123\n",
      "\n",
      "m_ = \n",
      "[1.59419051 0.99753176 2.42570215]\n",
      "p_ = \n",
      "[[ 0.21908202  0.00166345 -0.00551498]\n",
      " [ 0.00166345  0.24934762 -0.00549461]\n",
      " [-0.00551498 -0.00549461  0.25173055]]\n",
      "num = \n",
      "111\n",
      "SENSOR 8 3.83264320308 -1.36158444573\n",
      "\n",
      "num = \n",
      "112\n",
      "SENSOR 1 1.80852245484 -2.51982496643\n",
      "\n",
      "num = \n",
      "113\n",
      "SENSOR 2 1.96102088098 0.610994481673\n",
      "\n",
      "num = \n",
      "114\n",
      "SENSOR 3 4.85211156128 -0.1489018205\n",
      "\n",
      "num = \n",
      "115\n",
      "SENSOR 7 4.71279477962 -0.937135174382\n",
      "\n",
      "num = \n",
      "116\n",
      "ODOMETRY -0.000479308539659 0.0998432674256 -0.000777162798183\n",
      "\n",
      "m_ = \n",
      "[1.53413834 1.07341412 2.48309426]\n",
      "p_ = \n",
      "[[ 0.21906391  0.00178831 -0.00523247]\n",
      " [ 0.00178831  0.24917384 -0.00528984]\n",
      " [-0.00523247 -0.00528984  0.25172845]]\n",
      "num = \n",
      "117\n",
      "SENSOR 8 3.98024682642 -1.42089195757\n",
      "\n",
      "num = \n",
      "118\n",
      "SENSOR 1 1.68616417487 -2.51982610203\n",
      "\n",
      "num = \n",
      "119\n",
      "SENSOR 2 1.84497621719 0.568224090854\n",
      "\n",
      "num = \n",
      "120\n",
      "SENSOR 3 4.61852185259 -0.195327764501\n",
      "\n",
      "num = \n",
      "121\n",
      "SENSOR 7 4.6199153731 -0.979883951883\n",
      "\n",
      "num = \n",
      "122\n",
      "ODOMETRY 5.14521975978e-05 0.0998424550095 -0.00128773957906\n",
      "\n",
      "m_ = \n",
      "[1.55639405 1.06211865 2.55864913]\n",
      "p_ = \n",
      "[[ 0.21893943  0.00145955 -0.00476609]\n",
      " [ 0.00145955  0.24899212 -0.00482525]\n",
      " [-0.00476609 -0.00482525  0.25135886]]\n",
      "num = \n",
      "123\n",
      "SENSOR 8 4.07638490671 -1.48596910761\n",
      "\n",
      "num = \n",
      "124\n",
      "SENSOR 1 2.10918785502 -2.53013604019\n",
      "\n",
      "num = \n",
      "125\n",
      "SENSOR 2 1.87374300045 0.596795933857\n",
      "\n",
      "num = \n",
      "126\n",
      "SENSOR 3 4.63925938223 -0.116829211894\n",
      "\n",
      "num = \n",
      "127\n",
      "SENSOR 7 4.74670921432 -1.04281914214\n",
      "\n",
      "num = \n",
      "128\n",
      "ODOMETRY 0.000828058608643 0.0998754656366 0.000718626272025\n",
      "\n",
      "m_ = \n",
      "[1.55202253 0.96420731 2.66189975]\n",
      "p_ = \n",
      "[[ 0.2188998   0.0015741  -0.00442135]\n",
      " [ 0.0015741   0.24876374 -0.00457381]\n",
      " [-0.00442135 -0.00457381  0.25135575]]\n",
      "num = \n",
      "129\n",
      "SENSOR 8 3.98430154528 -1.48232363932\n",
      "\n",
      "num = \n",
      "130\n",
      "SENSOR 1 1.95702304621 -2.53750111924\n",
      "\n",
      "num = \n",
      "131\n",
      "SENSOR 2 1.58489922833 0.698949835685\n",
      "\n",
      "num = \n",
      "132\n",
      "SENSOR 3 4.4671595916 -0.168854291814\n",
      "\n",
      "num = \n",
      "133\n",
      "SENSOR 7 4.52930108719 -1.12389445264\n",
      "\n",
      "num = \n",
      "134\n",
      "ODOMETRY -0.000158830047539 0.100032780056 -0.000437720533696\n",
      "\n",
      "m_ = \n",
      "[1.54737938 1.00340236 2.80479131]\n",
      "p_ = \n",
      "[[ 0.21894132  0.00212774 -0.00418993]\n",
      " [ 0.00212774  0.24819714 -0.00462812]\n",
      " [-0.00418993 -0.00462812  0.25164538]]\n",
      "num = \n",
      "135\n",
      "SENSOR 8 3.84481274007 -1.42332717446\n",
      "\n",
      "num = \n",
      "136\n",
      "SENSOR 1 1.79980984001 -2.58723622781\n",
      "\n",
      "num = \n",
      "137\n",
      "SENSOR 2 1.44542795818 0.621521479992\n",
      "\n",
      "num = \n",
      "138\n",
      "SENSOR 3 4.16016807253 -0.216426375373\n",
      "\n",
      "num = \n",
      "139\n",
      "SENSOR 7 4.49513851102 -1.01028497886\n",
      "\n",
      "num = \n",
      "140\n",
      "ODOMETRY 0.000133544385368 0.100021589888 0.00109303965336\n",
      "\n",
      "m_ = \n",
      "[1.54839238 1.05181705 2.87595906]\n",
      "p_ = \n",
      "[[ 0.21882608  0.00205134 -0.00335565]\n",
      " [ 0.00205134  0.24770321 -0.00426774]\n",
      " [-0.00335565 -0.00426774  0.25113647]]\n",
      "num = \n",
      "141\n",
      "SENSOR 8 4.07172862971 -1.54542949541\n",
      "\n",
      "num = \n",
      "142\n",
      "SENSOR 1 2.04327443852 -2.64266309511\n",
      "\n",
      "num = \n",
      "143\n",
      "SENSOR 2 1.62012370037 0.749575235679\n",
      "\n",
      "num = \n",
      "144\n",
      "SENSOR 3 4.2939412228 -0.211337985351\n",
      "\n",
      "num = \n",
      "145\n",
      "SENSOR 7 4.55765990908 -1.01012265001\n",
      "\n",
      "num = \n",
      "146\n",
      "ODOMETRY 0.000256984803676 0.100174110326 -7.36342307491e-05\n",
      "\n",
      "m_ = \n",
      "[1.55085665 1.02432135 2.91824291]\n",
      "p_ = \n",
      "[[ 0.21874486  0.00184865 -0.00287174]\n",
      " [ 0.00184865  0.2476044  -0.00398914]\n",
      " [-0.00287174 -0.00398914  0.25074688]]\n",
      "num = \n",
      "147\n",
      "SENSOR 8 4.06698092589 -1.56722255044\n",
      "\n",
      "num = \n",
      "148\n",
      "SENSOR 1 2.24512586768 -2.5437818487\n",
      "\n",
      "num = \n",
      "149\n",
      "SENSOR 2 1.37145664293 0.831882746959\n",
      "\n",
      "num = \n",
      "150\n",
      "SENSOR 3 4.22397677315 -0.235036227202\n",
      "\n",
      "num = \n",
      "151\n",
      "SENSOR 7 4.41926718082 -1.00471126329\n",
      "\n",
      "num = \n",
      "152\n",
      "ODOMETRY 0.00058192498751 0.0999391933134 -0.00023129046615\n",
      "\n",
      "m_ = \n",
      "[1.51369574 0.9736107  3.07040897]\n",
      "p_ = \n",
      "[[ 0.21874887  0.00199454 -0.00262424]\n",
      " [ 0.00199454  0.24731743 -0.00406915]\n",
      " [-0.00262424 -0.00406915  0.25059142]]\n",
      "num = \n",
      "153\n",
      "SENSOR 8 3.97991042562 -1.60690152056\n",
      "\n",
      "num = \n",
      "154\n",
      "SENSOR 1 2.35643859208 -2.67866850272\n",
      "\n",
      "num = \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "155\n",
      "SENSOR 2 1.45749408492 0.830132685583\n",
      "\n",
      "num = \n",
      "156\n",
      "SENSOR 3 4.02815458891 -0.258831937496\n",
      "\n",
      "num = \n",
      "157\n",
      "SENSOR 7 4.42145324114 -1.10938279886\n",
      "\n",
      "num = \n",
      "158\n",
      "ODOMETRY 0.000696732375949 0.100156157706 -0.000584089998119\n",
      "\n",
      "m_ = \n",
      "[1.5661084  1.01296419 3.17718262]\n",
      "p_ = \n",
      "[[ 0.21873197  0.00223209 -0.00194859]\n",
      " [ 0.00223209  0.24642953 -0.00438998]\n",
      " [-0.00194859 -0.00438998  0.24977619]]\n",
      "num = \n",
      "159\n",
      "SENSOR 8 4.14607416122 -1.62652743084\n",
      "\n",
      "num = \n",
      "160\n",
      "SENSOR 1 2.4585060639 -2.62149672021\n",
      "\n",
      "num = \n",
      "161\n",
      "SENSOR 2 1.39609946002 0.827146029562\n",
      "\n",
      "num = \n",
      "162\n",
      "SENSOR 3 4.01022306014 -0.221408239995\n",
      "\n",
      "num = \n",
      "163\n",
      "SENSOR 7 4.26091719102 -1.12261197694\n",
      "\n",
      "num = \n",
      "164\n",
      "ODOMETRY 3.6215575313e-05 0.0999441653561 0.000171557215833\n",
      "\n",
      "m_ = \n",
      "[1.55536262 0.98403173 3.25404572]\n",
      "p_ = \n",
      "[[ 0.21865283  0.00195847 -0.00123694]\n",
      " [ 0.00195847  0.24633409 -0.0042217 ]\n",
      " [-0.00123694 -0.0042217   0.2489065 ]]\n",
      "num = \n",
      "165\n",
      "SENSOR 8 4.09025633382 -1.62902600145\n",
      "\n",
      "num = \n",
      "166\n",
      "SENSOR 1 2.36969383929 -2.76059077539\n",
      "\n",
      "num = \n",
      "167\n",
      "SENSOR 2 1.19862098202 1.02746191761\n",
      "\n",
      "num = \n",
      "168\n",
      "SENSOR 3 3.79856589715 -0.166995804924\n",
      "\n",
      "num = \n",
      "169\n",
      "SENSOR 7 4.28290107013 -1.22394878975\n",
      "\n",
      "num = \n",
      "170\n",
      "ODOMETRY -8.01303873469e-05 0.100119970896 0.000927184717075\n",
      "\n",
      "m_ = \n",
      "[1.55480442 1.02985319 3.40060166]\n",
      "p_ = \n",
      "[[ 0.21864769  0.001993   -0.00076398]\n",
      " [ 0.001993    0.24593391 -0.00446738]\n",
      " [-0.00076398 -0.00446738  0.24804431]]\n",
      "num = \n",
      "171\n",
      "SENSOR 8 4.07670842571 -1.65993610399\n",
      "\n",
      "num = \n",
      "172\n",
      "SENSOR 1 2.69624348373 -2.70745662616\n",
      "\n",
      "num = \n",
      "173\n",
      "SENSOR 2 1.27863825632 1.0228680341\n",
      "\n",
      "num = \n",
      "174\n",
      "SENSOR 3 3.69329884881 -0.310970841602\n",
      "\n",
      "num = \n",
      "175\n",
      "SENSOR 7 4.33458610704 -1.19229396722\n",
      "\n",
      "num = \n",
      "176\n",
      "ODOMETRY 0.000523456685193 0.100105137199 9.69165742264e-05\n",
      "\n",
      "m_ = \n",
      "[1.56938476 0.98943932 3.51244119]\n",
      "p_ = \n",
      "[[ 2.18558616e-01  1.42896457e-03  8.26694305e-05]\n",
      " [ 1.42896457e-03  2.46106362e-01 -4.09019131e-03]\n",
      " [ 8.26694305e-05 -4.09019131e-03  2.46626596e-01]]\n",
      "num = \n",
      "177\n",
      "SENSOR 8 4.19218444921 -1.62918746421\n",
      "\n",
      "num = \n",
      "178\n",
      "SENSOR 1 2.56469838469 -2.73365039673\n",
      "\n",
      "num = \n",
      "179\n",
      "SENSOR 2 1.07742306684 1.02436797734\n",
      "\n",
      "num = \n",
      "180\n",
      "SENSOR 3 3.79502409217 -0.2864736654\n",
      "\n",
      "num = \n",
      "181\n",
      "SENSOR 7 4.23474402594 -1.08843934559\n",
      "\n",
      "num = \n",
      "182\n",
      "ODOMETRY 0.000760851469688 0.0999197195975 -0.000675084333497\n",
      "\n",
      "m_ = \n",
      "[1.54192553 0.95271917 3.50683133]\n",
      "p_ = \n",
      "[[ 0.21855513  0.00122738  0.000868  ]\n",
      " [ 0.00122738  0.24586347 -0.00423917]\n",
      " [ 0.000868   -0.00423917  0.24473421]]\n",
      "num = \n",
      "183\n",
      "SENSOR 8 3.97471624618 -1.67287700529\n",
      "\n",
      "num = \n",
      "184\n",
      "SENSOR 1 2.75006267624 -2.92186387986\n",
      "\n",
      "num = \n",
      "185\n",
      "SENSOR 2 1.07790545646 1.14460483582\n",
      "\n",
      "num = \n",
      "186\n",
      "SENSOR 3 3.65459543213 -0.30509704695\n",
      "\n",
      "num = \n",
      "187\n",
      "SENSOR 7 4.07939470262 -1.19849586955\n",
      "\n",
      "num = \n",
      "188\n",
      "ODOMETRY 0.0001776465883 0.100000660883 -0.000138153337743\n",
      "\n",
      "m_ = \n",
      "[1.59503708 1.05675025 3.64278131]\n",
      "p_ = \n",
      "[[ 0.21858937  0.00142287  0.00082142]\n",
      " [ 0.00142287  0.2455602  -0.00462315]\n",
      " [ 0.00082142 -0.00462315  0.24429142]]\n",
      "num = \n",
      "189\n",
      "SENSOR 8 4.04139703382 -1.80527111094\n",
      "\n",
      "num = \n",
      "190\n",
      "SENSOR 1 2.81682858649 -2.73778261664\n",
      "\n",
      "num = \n",
      "191\n",
      "SENSOR 2 1.01157732908 1.35009000631\n",
      "\n",
      "num = \n",
      "192\n",
      "SENSOR 3 3.43641149431 -0.177181332772\n",
      "\n",
      "num = \n",
      "193\n",
      "SENSOR 7 4.1134848859 -1.19890280774\n",
      "\n",
      "num = \n",
      "194\n",
      "ODOMETRY -9.54350459669e-05 0.100059958212 0.000505361195257\n",
      "\n",
      "m_ = \n",
      "[1.53257981 1.05260503 3.80257841]\n",
      "p_ = \n",
      "[[ 0.21847399  0.00034776  0.00137197]\n",
      " [ 0.00034776  0.24648625 -0.00316943]\n",
      " [ 0.00137197 -0.00316943  0.24403489]]\n",
      "num = \n",
      "195\n",
      "SENSOR 8 4.14771152129 -1.65785363504\n",
      "\n",
      "num = \n",
      "196\n",
      "SENSOR 1 2.97373538756 -2.76749218654\n",
      "\n",
      "num = \n",
      "197\n",
      "SENSOR 2 1.08572526299 1.27905533571\n",
      "\n",
      "num = \n",
      "198\n",
      "SENSOR 3 3.19721928714 -0.285485802808\n",
      "\n",
      "num = \n",
      "199\n",
      "SENSOR 7 4.30425329678 -1.23670399341\n",
      "\n",
      "num = \n",
      "200\n",
      "ODOMETRY -0.000425877997443 0.100165010148 0.000263981771762\n",
      "\n",
      "m_ = \n",
      "[1.5458554  0.98215324 3.86873785]\n",
      "p_ = \n",
      "[[ 0.21844843 -0.00055235  0.00194712]\n",
      " [-0.00055235  0.24683141 -0.00211736]\n",
      " [ 0.00194712 -0.00211736  0.24246484]]\n",
      "num = \n",
      "201\n",
      "SENSOR 8 4.0209837071 -1.67421338488\n",
      "\n",
      "num = \n",
      "202\n",
      "SENSOR 1 2.98678421634 -2.79971956357\n",
      "\n",
      "num = \n",
      "203\n",
      "SENSOR 2 1.01794738917 1.50929471669\n",
      "\n",
      "num = \n",
      "204\n",
      "SENSOR 3 3.17923741534 -0.348369090478\n",
      "\n",
      "num = \n",
      "205\n",
      "SENSOR 7 4.02065742023 -1.27095421415\n",
      "\n",
      "num = \n",
      "206\n",
      "ODOMETRY 6.98085102272e-05 0.0998571294686 0.000814819876331\n",
      "\n",
      "m_ = \n",
      "[1.54096782 1.05393134 3.99350527]\n",
      "p_ = \n",
      "[[ 0.21849143 -0.00086802  0.00246745]\n",
      " [-0.00086802  0.24673388 -0.00183506]\n",
      " [ 0.00246745 -0.00183506  0.24026748]]\n",
      "num = \n",
      "207\n",
      "SENSOR 8 3.94704456339 -1.84097040455\n",
      "\n",
      "num = \n",
      "208\n",
      "SENSOR 1 3.00070004218 -2.81153261862\n",
      "\n",
      "num = \n",
      "209\n",
      "SENSOR 2 1.11963656291 1.61697540263\n",
      "\n",
      "num = \n",
      "210\n",
      "SENSOR 3 3.16238211291 -0.347631273442\n",
      "\n",
      "num = \n",
      "211\n",
      "SENSOR 7 4.11202372197 -1.30111395385\n",
      "\n",
      "num = \n",
      "212\n",
      "ODOMETRY -4.66038294942e-05 0.100189586967 -5.21580102793e-05\n",
      "\n",
      "m_ = \n",
      "[1.56183466 1.09006775 4.07651949]\n",
      "p_ = \n",
      "[[ 0.21843689 -0.00182018  0.0021971 ]\n",
      " [-0.00182018  0.24720417 -0.000345  ]\n",
      " [ 0.0021971  -0.000345    0.24161727]]\n",
      "num = \n",
      "213\n",
      "SENSOR 8 4.01514296922 -1.96395215815\n",
      "\n",
      "num = \n",
      "214\n",
      "SENSOR 1 3.31125551661 -2.81890526713\n",
      "\n",
      "num = \n",
      "215\n",
      "SENSOR 2 1.08993866286 1.69673860324\n",
      "\n",
      "num = \n",
      "216\n",
      "SENSOR 3 3.16301966354 -0.29879355839\n",
      "\n",
      "num = \n",
      "217\n",
      "SENSOR 7 4.0697079487 -1.2813948975\n",
      "\n",
      "num = \n",
      "218\n",
      "ODOMETRY -1.1888042286e-05 0.0999378556007 0.000874157595222\n",
      "\n",
      "m_ = \n",
      "[1.56718028 1.07274524 4.19814818]\n",
      "p_ = \n",
      "[[ 0.21841823 -0.0023523   0.00196454]\n",
      " [-0.0023523   0.2474136   0.00045569]\n",
      " [ 0.00196454  0.00045569  0.24260346]]\n",
      "num = \n",
      "219\n",
      "SENSOR 8 4.2194758592 -1.87684781408\n",
      "\n",
      "num = \n",
      "220\n",
      "SENSOR 1 3.38916611019 -2.79022010215\n",
      "\n",
      "num = \n",
      "221\n",
      "SENSOR 2 0.953931009281 1.74716622466\n",
      "\n",
      "num = \n",
      "222\n",
      "SENSOR 3 2.97789976956 -0.385301687676\n",
      "\n",
      "num = \n",
      "223\n",
      "SENSOR 7 3.99090383462 -1.29098027348\n",
      "\n",
      "num = \n",
      "224\n",
      "ODOMETRY -0.000548398686482 0.0999074163285 -0.000586249282159\n",
      "\n",
      "m_ = \n",
      "[1.55933659 0.9990321  4.29420754]\n",
      "p_ = \n",
      "[[ 0.21843862 -0.00313377  0.00183497]\n",
      " [-0.00313377  0.24744828  0.00155601]\n",
      " [ 0.00183497  0.00155601  0.24284453]]\n",
      "num = \n",
      "225\n",
      "SENSOR 8 4.01544662734 -1.8776296021\n",
      "\n",
      "num = \n",
      "226\n",
      "SENSOR 1 3.58685644655 -2.88216804\n",
      "\n",
      "num = \n",
      "227\n",
      "SENSOR 2 1.09959994011 1.88380797133\n",
      "\n",
      "num = \n",
      "228\n",
      "SENSOR 3 3.10144999253 -0.263328469751\n",
      "\n",
      "num = \n",
      "229\n",
      "SENSOR 7 4.13471788936 -1.42326420591\n",
      "\n",
      "num = \n",
      "230\n",
      "ODOMETRY 0.000209771470498 0.0999383153862 0.000442898738476\n",
      "\n",
      "m_ = \n",
      "[1.55736559 1.02619544 4.37851277]\n",
      "p_ = \n",
      "[[ 0.21850443 -0.00393507  0.00182658]\n",
      " [-0.00393507  0.24720206  0.00278469]\n",
      " [ 0.00182658  0.00278469  0.24220911]]\n",
      "num = \n",
      "231\n",
      "SENSOR 8 4.11908889453 -1.84906255817\n",
      "\n",
      "num = \n",
      "232\n",
      "SENSOR 1 3.40262134444 -2.79577392772\n",
      "\n",
      "num = \n",
      "233\n",
      "SENSOR 2 0.98313589166 1.93949068611\n",
      "\n",
      "num = \n",
      "234\n",
      "SENSOR 3 2.76424553473 -0.353284737573\n",
      "\n",
      "num = \n",
      "235\n",
      "SENSOR 7 4.04514369826 -1.34914177025\n",
      "\n",
      "num = \n",
      "236\n",
      "ODOMETRY -0.000636488566826 0.0999395698257 0.000643908734646\n",
      "\n",
      "m_ = \n",
      "[1.53106466 1.02078473 4.43298393]\n",
      "p_ = \n",
      "[[ 0.21850354 -0.00430767  0.00139438]\n",
      " [-0.00430767  0.24730561  0.00317142]\n",
      " [ 0.00139438  0.00317142  0.24370103]]\n",
      "num = \n",
      "237\n",
      "SENSOR 8 4.26368708251 -1.95171561203\n",
      "\n",
      "num = \n",
      "238\n",
      "SENSOR 1 3.59611549468 -2.8643885436\n",
      "\n",
      "num = \n",
      "239\n",
      "SENSOR 2 1.25741341306 2.05874595093\n",
      "\n",
      "num = \n",
      "240\n",
      "SENSOR 3 2.62985116185 -0.340176489157\n",
      "\n",
      "num = \n",
      "241\n",
      "SENSOR 7 4.0715354283 -1.34078750934\n",
      "\n",
      "num = \n",
      "242\n",
      "ODOMETRY -0.000749506228593 0.0998919597135 0.000431194734685\n",
      "\n",
      "m_ = \n",
      "[1.53768759 1.04743414 4.60006763]\n",
      "p_ = \n",
      "[[ 0.21852129 -0.00459767  0.00111945]\n",
      " [-0.00459767  0.24729659  0.00351875]\n",
      " [ 0.00111945  0.00351875  0.24433414]]\n",
      "num = \n",
      "243\n",
      "SENSOR 8 4.21795338302 -1.92674399779\n",
      "\n",
      "num = \n",
      "244\n",
      "SENSOR 1 3.64715670833 -2.88849823757\n",
      "\n",
      "num = \n",
      "245\n",
      "SENSOR 2 1.15505103131 2.09289492551\n",
      "\n",
      "num = \n",
      "246\n",
      "SENSOR 3 2.52001295552 -0.472631064422\n",
      "\n",
      "num = \n",
      "247\n",
      "SENSOR 7 3.95528847465 -1.41585544885\n",
      "\n",
      "num = \n",
      "248\n",
      "ODOMETRY 0.000406907201319 0.0998586394002 4.54817335274e-05\n",
      "\n",
      "m_ = \n",
      "[1.57152145 1.04318749 4.68407162]\n",
      "p_ = \n",
      "[[ 2.18550629e-01 -5.09953161e-03  8.12271005e-05]\n",
      " [-5.09953161e-03  2.47574745e-01  3.89152832e-03]\n",
      " [ 8.12271005e-05  3.89152832e-03  2.46641234e-01]]\n",
      "num = \n",
      "249\n",
      "SENSOR 8 4.36749740434 -2.0474823273\n",
      "\n",
      "num = \n",
      "250\n",
      "SENSOR 1 3.68174071666 -2.9201773312\n",
      "\n",
      "num = \n",
      "251\n",
      "SENSOR 2 1.22696609171 2.26296774635\n",
      "\n",
      "num = \n",
      "252\n",
      "SENSOR 3 2.41868212361 -0.336817224032\n",
      "\n",
      "num = \n",
      "253\n",
      "SENSOR 7 3.98911047334 -1.47028485405\n",
      "\n",
      "num = \n",
      "254\n",
      "ODOMETRY 0.00020261199028 0.0999232742711 -0.00079340859659\n",
      "\n",
      "m_ = \n",
      "[1.55607888 1.03583039 4.81453994]\n",
      "p_ = \n",
      "[[ 0.21858267 -0.00534585 -0.00038784]\n",
      " [-0.00534585  0.24771842  0.004091  ]\n",
      " [-0.00038784  0.004091    0.24758662]]\n",
      "num = \n",
      "255\n",
      "SENSOR 8 4.3737723756 -1.93110738924\n",
      "\n",
      "num = \n",
      "256\n",
      "SENSOR 1 3.8479658409 -2.96461382002\n",
      "\n",
      "num = \n",
      "257\n",
      "SENSOR 2 1.44650342879 2.19184285471\n",
      "\n",
      "num = \n",
      "258\n",
      "SENSOR 3 2.4378797797 -0.376196945898\n",
      "\n",
      "num = \n",
      "259\n",
      "SENSOR 7 3.99144004155 -1.53192738274\n",
      "\n",
      "num = \n",
      "260\n",
      "ODOMETRY 0.000476456640183 0.0999946391606 0.000673997332114\n",
      "\n",
      "m_ = \n",
      "[1.57133354 1.07066166 4.88658034]\n",
      "p_ = \n",
      "[[ 0.21863592 -0.00561213 -0.00118076]\n",
      " [-0.00561213  0.24801903  0.0043013 ]\n",
      " [-0.00118076  0.0043013   0.24880389]]\n",
      "num = \n",
      "261\n",
      "SENSOR 8 4.18501121114 -1.96001604794\n",
      "\n",
      "num = \n",
      "262\n",
      "SENSOR 1 3.94177735119 -2.84551297654\n",
      "\n",
      "num = \n",
      "263\n",
      "SENSOR 2 1.18038634345 2.41547551073\n",
      "\n",
      "num = \n",
      "264\n",
      "SENSOR 3 2.25386927139 -0.458608006904\n",
      "\n",
      "num = \n",
      "265\n",
      "SENSOR 7 4.01204561994 -1.48975256344\n",
      "\n",
      "num = \n",
      "266\n",
      "ODOMETRY 0.000136092271998 0.0999996467097 -0.000522848477433\n",
      "\n",
      "m_ = \n",
      "[1.52371496 1.0203191  4.96410257]\n",
      "p_ = \n",
      "[[ 0.21863704 -0.00551522 -0.00149583]\n",
      " [-0.00551522  0.24839955  0.0041421 ]\n",
      " [-0.00149583  0.0041421   0.24943989]]\n",
      "num = \n",
      "267\n",
      "SENSOR 8 4.40946468491 -2.02094252774\n",
      "\n",
      "num = \n",
      "268\n",
      "SENSOR 1 3.91922179189 -2.87072202395\n",
      "\n",
      "num = \n",
      "269\n",
      "SENSOR 2 1.44580310453 2.32508479098\n",
      "\n",
      "num = \n",
      "270\n",
      "SENSOR 3 2.15756119315 -0.424067573571\n",
      "\n",
      "num = \n",
      "271\n",
      "SENSOR 7 4.06104474419 -1.57224455589\n",
      "\n",
      "num = \n",
      "272\n",
      "ODOMETRY 0.000302269878199 0.0999353432319 0.000539895064198\n",
      "\n",
      "m_ = \n",
      "[1.55802814 1.03826162 5.05036167]\n",
      "p_ = \n",
      "[[ 0.2187093  -0.00581124 -0.00204765]\n",
      " [-0.00581124  0.24847316  0.00451744]\n",
      " [-0.00204765  0.00451744  0.24994432]]\n",
      "num = \n",
      "273\n",
      "SENSOR 8 4.5165550898 -2.00275541219\n",
      "\n",
      "num = \n",
      "274\n",
      "SENSOR 1 4.25083690758 -2.88476512783\n",
      "\n",
      "num = \n",
      "275\n",
      "SENSOR 2 1.59664742666 2.36949118143\n",
      "\n",
      "num = \n",
      "276\n",
      "SENSOR 3 2.18656915806 -0.37303565508\n",
      "\n",
      "num = \n",
      "277\n",
      "SENSOR 7 4.05007373159 -1.58049943139\n",
      "\n",
      "num = \n",
      "278\n",
      "ODOMETRY 0.00013361527452 0.100074513275 0.000560546767954\n",
      "\n",
      "m_ = \n",
      "[1.53847019 1.04225859 5.18822484]\n",
      "p_ = \n",
      "[[ 0.21873106 -0.00574302 -0.00246713]\n",
      " [-0.00574302  0.24885837  0.00452074]\n",
      " [-0.00246713  0.00452074  0.25040911]]\n",
      "num = \n",
      "279\n",
      "SENSOR 8 4.4359853347 -1.98886105814\n",
      "\n",
      "num = \n",
      "280\n",
      "SENSOR 1 4.34929216262 -2.84640872927\n",
      "\n",
      "num = \n",
      "281\n",
      "SENSOR 2 1.51357200054 2.46096763847\n",
      "\n",
      "num = \n",
      "282\n",
      "SENSOR 3 2.1177123351 -0.433574921219\n",
      "\n",
      "num = \n",
      "283\n",
      "SENSOR 7 3.63185364294 -1.65552297298\n",
      "\n",
      "num = \n",
      "284\n",
      "ODOMETRY -0.000748347401324 0.0999214044639 0.000183054107003\n",
      "\n",
      "m_ = \n",
      "[1.52443467 1.11933143 5.26830271]\n",
      "p_ = \n",
      "[[ 0.21878886 -0.00568417 -0.00315749]\n",
      " [-0.00568417  0.24937579  0.00473072]\n",
      " [-0.00315749  0.00473072  0.25092995]]\n",
      "num = \n",
      "285\n",
      "SENSOR 8 4.33976493299 -2.0786008695\n",
      "\n",
      "num = \n",
      "286\n",
      "SENSOR 1 4.26489841524 -2.98062522043\n",
      "\n",
      "num = \n",
      "287\n",
      "SENSOR 2 1.61966127202 2.46647468873\n",
      "\n",
      "num = \n",
      "288\n",
      "SENSOR 3 2.02261768412 -0.484039818089\n",
      "\n",
      "num = \n",
      "289\n",
      "SENSOR 7 4.09245647518 -1.63859759267\n",
      "\n",
      "num = \n",
      "290\n",
      "ODOMETRY 0.000428845906387 0.10008081915 0.000352531758719\n",
      "\n",
      "m_ = \n",
      "[1.57210077 1.07255877 5.30411294]\n",
      "p_ = \n",
      "[[ 0.21875958 -0.00527721 -0.00347697]\n",
      " [-0.00527721  0.24973535  0.00465831]\n",
      " [-0.00347697  0.00465831  0.25095972]]\n",
      "num = \n",
      "291\n",
      "SENSOR 8 4.66591979904 -2.11042811091\n",
      "\n",
      "num = \n",
      "292\n",
      "SENSOR 1 4.5400120979 -2.94675157545\n",
      "\n",
      "num = \n",
      "293\n",
      "SENSOR 2 1.66151980155 2.4772319982\n",
      "\n",
      "num = \n",
      "294\n",
      "SENSOR 3 1.69406105599 -0.528339655367\n",
      "\n",
      "num = \n",
      "295\n",
      "SENSOR 7 3.93440624897 -1.69607534156\n",
      "\n",
      "num = \n",
      "296\n",
      "ODOMETRY 0.000241280703103 0.100190717382 0.00021908908565\n",
      "\n",
      "m_ = \n",
      "[1.5789082  1.06450545 5.51266758]\n",
      "p_ = \n",
      "[[ 0.21881801 -0.00547238 -0.00377592]\n",
      " [-0.00547238  0.24982214  0.00494743]\n",
      " [-0.00377592  0.00494743  0.25116438]]\n",
      "num = \n",
      "297\n",
      "SENSOR 8 4.65394245626 -2.10046665109\n",
      "\n",
      "num = \n",
      "298\n",
      "SENSOR 1 4.6922590945 -2.8776113437\n",
      "\n",
      "num = \n",
      "299\n",
      "SENSOR 2 1.84720641205 2.51332375216\n",
      "\n",
      "num = \n",
      "300\n",
      "SENSOR 3 1.7878592279 -0.6464169453\n",
      "\n",
      "num = \n",
      "301\n",
      "SENSOR 7 4.08108369627 -1.67639330679\n",
      "\n",
      "num = \n",
      "302\n",
      "ODOMETRY -0.00119608488614 0.0998300419662 -0.000785692437084\n",
      "\n",
      "m_ = \n",
      "[1.56774562 1.0084718  5.6253599 ]\n",
      "p_ = \n",
      "[[ 0.21894715 -0.0053504  -0.00477026]\n",
      " [-0.0053504   0.25038855  0.00578772]\n",
      " [-0.00477026  0.00578772  0.25137613]]\n",
      "num = \n",
      "303\n",
      "SENSOR 8 4.77404605226 -2.08170107067\n",
      "\n",
      "num = \n",
      "304\n",
      "SENSOR 1 4.33976416105 -2.90292850512\n",
      "\n",
      "num = \n",
      "305\n",
      "SENSOR 2 1.88969783614 2.58825155721\n",
      "\n",
      "num = \n",
      "306\n",
      "SENSOR 3 1.73764363829 -0.49745195748\n",
      "\n",
      "num = \n",
      "307\n",
      "SENSOR 7 3.96406958388 -1.66060095497\n",
      "\n",
      "num = \n",
      "308\n",
      "ODOMETRY -0.000283673180471 0.0998692948249 -6.45801742076e-05\n",
      "\n",
      "m_ = \n",
      "[1.52670041 1.05809182 5.59365498]\n",
      "p_ = \n",
      "[[ 0.21909637 -0.0055753  -0.00541937]\n",
      " [-0.0055753   0.25084685  0.00659187]\n",
      " [-0.00541937  0.00659187  0.25163822]]\n",
      "num = \n",
      "309\n",
      "SENSOR 8 4.72928958355 -2.11808295378\n",
      "\n",
      "num = \n",
      "310\n",
      "SENSOR 1 4.85446874563 -2.96828803681\n",
      "\n",
      "num = \n",
      "311\n",
      "SENSOR 2 1.94629939838 2.61814643875\n",
      "\n",
      "num = \n",
      "312\n",
      "SENSOR 3 1.60770645745 -0.563753684955\n",
      "\n",
      "num = \n",
      "313\n",
      "SENSOR 7 3.89182668135 -1.78660920606\n",
      "\n",
      "num = \n",
      "314\n",
      "ODOMETRY -0.000182066224786 0.0998742815469 -0.000565724685502\n",
      "\n",
      "m_ = \n",
      "[1.55150502 1.09413399 5.7742481 ]\n",
      "p_ = \n",
      "[[ 0.21901941 -0.00534119 -0.00517611]\n",
      " [-0.00534119  0.25064894  0.00629284]\n",
      " [-0.00517611  0.00629284  0.25142819]]\n",
      "num = \n",
      "315\n",
      "SENSOR 8 4.66229866868 -2.20515623143\n",
      "\n",
      "num = \n",
      "316\n",
      "SENSOR 1 4.80809797253 -3.00294348241\n",
      "\n",
      "num = \n",
      "317\n",
      "SENSOR 2 2.13430608854 2.71645106462\n",
      "\n",
      "num = \n",
      "318\n",
      "SENSOR 3 1.376952877 -0.663110570535\n",
      "\n",
      "num = \n",
      "319\n",
      "SENSOR 7 3.8811618647 -1.8038777696\n",
      "\n",
      "num = \n",
      "320\n",
      "ODOMETRY 0.000446460674214 0.0998339319617 0.000172792242606\n",
      "\n",
      "m_ = \n",
      "[1.56283503 1.15491976 5.91481687]\n",
      "p_ = \n",
      "[[ 0.21913349 -0.00505349 -0.00594305]\n",
      " [-0.00505349  0.25084056  0.00730585]\n",
      " [-0.00594305  0.00730585  0.25106469]]\n",
      "num = \n",
      "321\n",
      "SENSOR 8 5.02546804585 -2.19510092046\n",
      "\n",
      "num = \n",
      "322\n",
      "SENSOR 1 5.01349268035 -2.96140277102\n",
      "\n",
      "num = \n",
      "323\n",
      "SENSOR 2 2.16725029068 2.71920290634\n",
      "\n",
      "num = \n",
      "324\n",
      "SENSOR 3 1.6217305118 -0.701135122275\n",
      "\n",
      "num = \n",
      "325\n",
      "SENSOR 7 3.94079630166 -1.73582055105\n",
      "\n",
      "num = \n",
      "326\n",
      "ODOMETRY -0.000192785040713 0.099962525761 -0.000198322747385\n",
      "\n",
      "m_ = \n",
      "[1.54321851 1.03694874 5.99264075]\n",
      "p_ = \n",
      "[[ 0.21922502 -0.00468874 -0.00643265]\n",
      " [-0.00468874  0.25062099  0.0083008 ]\n",
      " [-0.00643265  0.0083008   0.25038158]]\n",
      "num = \n",
      "327\n",
      "SENSOR 8 4.94083414559 -2.11537295171\n",
      "\n",
      "num = \n",
      "328\n",
      "SENSOR 9 4.91446231227 -0.887651756022\n",
      "\n",
      "num = \n",
      "329\n",
      "SENSOR 2 2.16197834316 2.69904984308\n",
      "\n",
      "num = \n",
      "330\n",
      "SENSOR 3 1.525427237 -0.711047076592\n",
      "\n",
      "num = \n",
      "331\n",
      "SENSOR 7 4.01530297276 -1.90341160103\n",
      "\n",
      "num = \n",
      "332\n",
      "ODOMETRY -0.00041677675012 0.0998935259811 -0.000185627166787\n",
      "\n",
      "m_ = \n",
      "[1.5498715  1.04374133 6.04646621]\n",
      "p_ = \n",
      "[[ 0.21978523 -0.00149468 -0.00918425]\n",
      " [-0.00149468  0.24342014  0.00069924]\n",
      " [-0.00918425  0.00069924  0.25847728]]\n",
      "num = \n",
      "333\n",
      "SENSOR 8 4.9944171849 -2.22316600512\n",
      "\n",
      "num = \n",
      "334\n",
      "SENSOR 9 4.91770926354 -0.875068268808\n",
      "\n",
      "num = \n",
      "335\n",
      "SENSOR 2 2.37108525182 2.63893274328\n",
      "\n",
      "num = \n",
      "336\n",
      "SENSOR 3 1.22148996766 -0.779993952297\n",
      "\n",
      "num = \n",
      "337\n",
      "SENSOR 7 4.05942517061 -1.80602776182\n",
      "\n",
      "num = \n",
      "338\n",
      "ODOMETRY -0.000504187302557 0.099935062112 -0.000102208043102\n",
      "\n",
      "m_ = \n",
      "[1.55206298 1.0907961  6.18531641]\n",
      "p_ = \n",
      "[[ 0.21993323 -0.00144568 -0.00964284]\n",
      " [-0.00144568  0.24312994  0.00094661]\n",
      " [-0.00964284  0.00094661  0.25864194]]\n",
      "num = \n",
      "339\n",
      "SENSOR 9 5.05113586384 -0.939362710755\n",
      "\n",
      "num = \n",
      "340\n",
      "SENSOR 2 2.42075573102 2.65401889272\n",
      "\n",
      "num = \n",
      "341\n",
      "SENSOR 3 1.40673857311 -0.792218436955\n",
      "\n",
      "num = \n",
      "342\n",
      "SENSOR 7 4.01097220078 -1.86268980877\n",
      "\n",
      "num = \n",
      "343\n",
      "ODOMETRY 0.00010208423308 0.10009595201 0.000112598536447\n",
      "\n",
      "m_ = \n",
      "[1.58064086 1.05039571 6.17479567]\n",
      "p_ = \n",
      "[[ 0.22504675  0.00118942 -0.01271982]\n",
      " [ 0.00118942  0.24964129 -0.00468477]\n",
      " [-0.01271982 -0.00468477  0.26521053]]\n",
      "num = \n",
      "344\n",
      "SENSOR 9 4.80175052631 -0.901315690154\n",
      "\n",
      "num = \n",
      "345\n",
      "SENSOR 2 2.53903797695 2.78425180019\n",
      "\n",
      "num = \n",
      "346\n",
      "SENSOR 3 1.21005538358 -0.947107299591\n",
      "\n",
      "num = \n",
      "347\n",
      "SENSOR 7 4.21526740137 -1.77072934034\n",
      "\n",
      "num = \n",
      "348\n",
      "ODOMETRY -0.000470079132191 0.100071592578 0.000364741934559\n",
      "\n",
      "m_ = \n",
      "[1.5162581  1.0102008  6.39189914]\n",
      "p_ = \n",
      "[[ 0.22509822  0.00108591 -0.01276273]\n",
      " [ 0.00108591  0.25045457 -0.00553516]\n",
      " [-0.01276273 -0.00553516  0.26639292]]\n",
      "num = \n",
      "349\n",
      "SENSOR 9 4.8930608011 -0.931458155021\n",
      "\n",
      "num = \n",
      "350\n",
      "SENSOR 2 2.49064672217 2.70820827557\n",
      "\n",
      "num = \n",
      "351\n",
      "SENSOR 3 1.1298112679 -0.927638881263\n",
      "\n",
      "num = \n",
      "352\n",
      "SENSOR 7 4.10863769033 -1.85570810456\n",
      "\n",
      "num = \n",
      "353\n",
      "ODOMETRY 0.000293614872845 0.0999543517986 0.000235684154045\n",
      "\n",
      "m_ = \n",
      "[1.5503771  1.04177077 6.39540771]\n",
      "p_ = \n",
      "[[ 2.25892794e-01 -1.11838099e-04 -1.46615206e-02]\n",
      " [-1.11838099e-04  2.50580948e-01 -2.70311914e-03]\n",
      " [-1.46615206e-02 -2.70311914e-03  2.64537650e-01]]\n",
      "num = \n",
      "354\n",
      "SENSOR 9 4.78120287936 -0.931491845794\n",
      "\n",
      "num = \n",
      "355\n",
      "SENSOR 2 2.65158902922 2.74003752891\n",
      "\n",
      "num = \n",
      "356\n",
      "SENSOR 3 1.13696167911 -1.02091756573\n",
      "\n",
      "num = \n",
      "357\n",
      "SENSOR 7 4.14832981289 -1.93565577604\n",
      "\n",
      "num = \n",
      "358\n",
      "ODOMETRY -8.40851246277e-05 0.0999403556225 -0.000176595962094\n",
      "\n",
      "m_ = \n",
      "[1.56092935 1.0471047  6.50243839]\n",
      "p_ = \n",
      "[[ 2.25972024e-01  1.20305666e-05 -1.47087519e-02]\n",
      " [ 1.20305666e-05  2.50216351e-01 -2.15981527e-03]\n",
      " [-1.47087519e-02 -2.15981527e-03  2.63650329e-01]]\n",
      "num = \n",
      "359\n",
      "SENSOR 9 4.57621416752 -0.993635910976\n",
      "\n",
      "num = \n",
      "360\n",
      "SENSOR 2 2.92434868722 2.7082657163\n",
      "\n",
      "num = \n",
      "361\n",
      "SENSOR 3 0.871667628237 -1.08932996938\n",
      "\n",
      "num = \n",
      "362\n",
      "SENSOR 7 4.2336588264 -1.9442154823\n",
      "\n",
      "num = \n",
      "363\n",
      "ODOMETRY -0.00962491243249 0.100226987653 -0.0205912870107\n",
      "\n",
      "m_ = \n",
      "[1.52611953 1.14048765 6.69656567]\n",
      "p_ = \n",
      "[[ 0.22640818 -0.00072348 -0.01538356]\n",
      " [-0.00072348  0.2504848  -0.00065842]\n",
      " [-0.01538356 -0.00065842  0.26159221]]\n",
      "num = \n",
      "364\n",
      "SENSOR 9 4.44837110071 -0.989307488326\n",
      "\n",
      "num = \n",
      "365\n",
      "SENSOR 2 2.8892743732 2.84845502425\n",
      "\n",
      "num = \n",
      "366\n",
      "SENSOR 3 0.891192383698 -1.23984271\n",
      "\n",
      "num = \n",
      "367\n",
      "SENSOR 7 4.24686986677 -1.92323203717\n",
      "\n",
      "num = \n",
      "368\n",
      "ODOMETRY -0.0102033452948 0.0998839630755 -0.0215571904424\n",
      "\n",
      "m_ = \n",
      "[1.47699582 1.13120287 6.83440078]\n",
      "p_ = \n",
      "[[ 0.2274071  -0.00217623 -0.01608144]\n",
      " [-0.00217623  0.25117115  0.00235431]\n",
      " [-0.01608144  0.00235431  0.25395813]]\n",
      "num = \n",
      "369\n",
      "SENSOR 9 4.51127976731 -0.965675234448\n",
      "\n",
      "num = \n",
      "370\n",
      "SENSOR 2 2.99371450745 2.84262811823\n",
      "\n",
      "num = \n",
      "371\n",
      "SENSOR 3 0.799137718613 -1.19111999767\n",
      "\n",
      "num = \n",
      "372\n",
      "SENSOR 7 4.34718168559 -1.87200596541\n",
      "\n",
      "num = \n",
      "373\n",
      "ODOMETRY -0.00860842707999 0.0998102570683 -0.0193391675193\n",
      "\n",
      "m_ = \n",
      "[1.43602373 1.13697312 6.88097954]\n",
      "p_ = \n",
      "[[ 0.227874   -0.00396215 -0.01631556]\n",
      " [-0.00396215  0.25325404  0.00215325]\n",
      " [-0.01631556  0.00215325  0.25144304]]\n",
      "num = \n",
      "374\n",
      "SENSOR 9 4.45640142154 -0.978412228293\n",
      "\n",
      "num = \n",
      "375\n",
      "SENSOR 2 3.26617603062 2.8384001977\n",
      "\n",
      "num = \n",
      "376\n",
      "SENSOR 3 0.816222604143 -1.30597066763\n",
      "\n",
      "num = \n",
      "377\n",
      "SENSOR 7 4.2980455787 -1.89648658794\n",
      "\n",
      "num = \n",
      "378\n",
      "ODOMETRY -0.00956022288558 0.100150972292 -0.0200463224548\n",
      "\n",
      "m_ = \n",
      "[1.42573803 1.17367741 7.0018237 ]\n",
      "p_ = \n",
      "[[ 0.22804085 -0.00460721 -0.01632556]\n",
      " [-0.00460721  0.25400114  0.0019159 ]\n",
      " [-0.01632556  0.0019159   0.25044235]]\n",
      "num = \n",
      "379\n",
      "SENSOR 9 4.37573768277 -0.917844889679\n",
      "\n",
      "num = \n",
      "380\n",
      "SENSOR 2 3.317865598 2.95007305006\n",
      "\n",
      "num = \n",
      "381\n",
      "SENSOR 3 0.817247142217 -1.37869382939\n",
      "\n",
      "num = \n",
      "382\n",
      "SENSOR 7 4.09119325406 -1.94192716645\n",
      "\n",
      "num = \n",
      "383\n",
      "ODOMETRY -0.0103002834124 0.100007766723 -0.0197368000329\n",
      "\n",
      "m_ = \n",
      "[1.38304249 1.24402767 7.07589266]\n",
      "p_ = \n",
      "[[ 0.22848514 -0.00619432 -0.01610827]\n",
      " [-0.00619432  0.25554812  0.00067265]\n",
      " [-0.01610827  0.00067265  0.24755612]]\n",
      "num = \n",
      "384\n",
      "SENSOR 9 4.21811509958 -0.851878267922\n",
      "\n",
      "num = \n",
      "385\n",
      "SENSOR 2 3.18846120949 2.97202181201\n",
      "\n",
      "num = \n",
      "386\n",
      "SENSOR 3 1.13340957174 -1.46851281333\n",
      "\n",
      "num = \n",
      "387\n",
      "SENSOR 7 4.38585468217 -1.82603901749\n",
      "\n",
      "num = \n",
      "388\n",
      "ODOMETRY -0.0102831048513 0.10010953823 -0.0202530209795\n",
      "\n",
      "m_ = \n",
      "[1.32692189 1.13072942 7.17966319]\n",
      "p_ = \n",
      "[[ 0.22888784 -0.00723725 -0.01544285]\n",
      " [-0.00723725  0.25637078 -0.00098362]\n",
      " [-0.01544285 -0.00098362  0.24346553]]\n",
      "num = \n",
      "389\n",
      "SENSOR 9 4.26699097617 -0.944178359109\n",
      "\n",
      "num = \n",
      "390\n",
      "SENSOR 2 3.38023967491 3.01452503314\n",
      "\n",
      "num = \n",
      "391\n",
      "SENSOR 3 0.720668136763 -1.55711368901\n",
      "\n",
      "num = \n",
      "392\n",
      "SENSOR 7 4.33394842239 -1.91875382264\n",
      "\n",
      "num = \n",
      "393\n",
      "ODOMETRY -0.0105866501206 0.0999017879145 -0.0197382893367\n",
      "\n",
      "m_ = \n",
      "[1.34010247 1.22390027 7.24956058]\n",
      "p_ = \n",
      "[[ 0.22857444 -0.00857461 -0.01591824]\n",
      " [-0.00857461  0.25698181 -0.00122088]\n",
      " [-0.01591824 -0.00122088  0.25122618]]\n",
      "num = \n",
      "394\n",
      "SENSOR 9 4.22270883023 -0.860892437552\n",
      "\n",
      "num = \n",
      "395\n",
      "SENSOR 2 3.36042267996 3.01995506444\n",
      "\n",
      "num = \n",
      "396\n",
      "SENSOR 3 0.717148685032 -1.66529431909\n",
      "\n",
      "num = \n",
      "397\n",
      "SENSOR 7 4.43948581701 -1.84649833616\n",
      "\n",
      "num = \n",
      "398\n",
      "ODOMETRY -0.0113245534652 0.100123041114 -0.0190696769167\n",
      "\n",
      "m_ = \n",
      "[1.3013008  1.24816352 7.32525702]\n",
      "p_ = \n",
      "[[ 0.22898052 -0.00962575 -0.01524773]\n",
      " [-0.00962575  0.25699064 -0.0034305 ]\n",
      " [-0.01524773 -0.0034305   0.24837091]]\n",
      "num = \n",
      "399\n",
      "SENSOR 9 4.16843098657 -0.834433300637\n",
      "\n",
      "num = \n",
      "400\n",
      "SENSOR 2 3.51256815216 2.97921133252\n",
      "\n",
      "num = \n",
      "401\n",
      "SENSOR 3 0.834830514938 -1.73903910734\n",
      "\n",
      "num = \n",
      "402\n",
      "SENSOR 7 4.28359501376 -1.86953074931\n",
      "\n",
      "num = \n",
      "403\n",
      "ODOMETRY -0.00971082754926 0.100025950554 -0.0198211377492\n",
      "\n",
      "m_ = \n",
      "[1.29430956 1.3002576  7.38618063]\n",
      "p_ = \n",
      "[[ 0.22904338 -0.010645   -0.01482696]\n",
      " [-0.010645    0.25677478 -0.00450172]\n",
      " [-0.01482696 -0.00450172  0.24951947]]\n",
      "num = \n",
      "404\n",
      "SENSOR 9 4.02856295399 -0.968273518321\n",
      "\n",
      "num = \n",
      "405\n",
      "SENSOR 2 3.63658640677 3.12915861055\n",
      "\n",
      "num = \n",
      "406\n",
      "SENSOR 3 0.734021188267 -1.75470305372\n",
      "\n",
      "num = \n",
      "407\n",
      "SENSOR 7 4.54650380966 -1.76609368488\n",
      "\n",
      "num = \n",
      "408\n",
      "ODOMETRY -0.010589475487 0.10010496938 -0.0199922914546\n",
      "\n",
      "m_ = \n",
      "[1.23353526 1.29334792 7.50291903]\n",
      "p_ = \n",
      "[[ 0.22917099 -0.01149623 -0.01408177]\n",
      " [-0.01149623  0.25601016 -0.00602055]\n",
      " [-0.01408177 -0.00602055  0.24972796]]\n",
      "num = \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "409\n",
      "SENSOR 9 3.91015885795 -0.869086963006\n",
      "\n",
      "num = \n",
      "410\n",
      "SENSOR 2 3.87255632648 3.16604194771\n",
      "\n",
      "num = \n",
      "411\n",
      "SENSOR 3 0.865196059921 -1.86949836389\n",
      "\n",
      "num = \n",
      "412\n",
      "SENSOR 7 4.51133867781 -1.81430214087\n",
      "\n",
      "num = \n",
      "413\n",
      "ODOMETRY -0.00946128189441 0.0997349532468 -0.0199718063448\n",
      "\n",
      "m_ = \n",
      "[1.17767938 1.35013963 7.65803792]\n",
      "p_ = \n",
      "[[ 0.22898893 -0.01276038 -0.01360667]\n",
      " [-0.01276038  0.25598472 -0.0050272 ]\n",
      " [-0.01360667 -0.0050272   0.25392161]]\n",
      "num = \n",
      "414\n",
      "SENSOR 9 3.82613593432 -0.874876680077\n",
      "\n",
      "num = \n",
      "415\n",
      "SENSOR 2 3.83879660579 -3.13229830775\n",
      "\n",
      "num = \n",
      "416\n",
      "SENSOR 3 1.06514315073 -1.87293500873\n",
      "\n",
      "num = \n",
      "417\n",
      "SENSOR 7 4.56299343999 -1.75934253741\n",
      "\n",
      "num = \n",
      "418\n",
      "ODOMETRY -0.00979951516687 0.0997189457445 -0.0206080614093\n",
      "\n",
      "m_ = \n",
      "[1.14733795 1.32994299 7.74886385]\n",
      "p_ = \n",
      "[[ 0.22882356 -0.01448447 -0.0125395 ]\n",
      " [-0.01448447  0.25591244 -0.00369668]\n",
      " [-0.0125395  -0.00369668  0.25759236]]\n",
      "num = \n",
      "419\n",
      "SENSOR 9 4.12881342913 -0.867651605124\n",
      "\n",
      "num = \n",
      "420\n",
      "SENSOR 2 4.0288094419 -3.2276561161\n",
      "\n",
      "num = \n",
      "421\n",
      "SENSOR 3 0.901200006923 -2.03251122022\n",
      "\n",
      "num = \n",
      "422\n",
      "SENSOR 7 4.62001856502 -1.8309460386\n",
      "\n",
      "num = \n",
      "423\n",
      "ODOMETRY -0.00943323576827 0.100124414548 -0.0203296697597\n",
      "\n",
      "m_ = \n",
      "[1.20745548 1.3172432  7.79630705]\n",
      "p_ = \n",
      "[[ 0.22859314 -0.01524753 -0.01252119]\n",
      " [-0.01524753  0.25763779 -0.00131229]\n",
      " [-0.01252119 -0.00131229  0.25995378]]\n",
      "num = \n",
      "424\n",
      "SENSOR 9 3.70232136893 -0.94416511906\n",
      "\n",
      "num = \n",
      "425\n",
      "SENSOR 2 3.98368634906 -3.07682994555\n",
      "\n",
      "num = \n",
      "426\n",
      "SENSOR 3 0.899772694406 -2.09221030348\n",
      "\n",
      "num = \n",
      "427\n",
      "SENSOR 7 4.46139118814 -1.86311006595\n",
      "\n",
      "num = \n",
      "428\n",
      "ODOMETRY -0.0100890424076 0.0999779958111 -0.0198161117798\n",
      "\n",
      "m_ = \n",
      "[1.17432341 1.45736175 7.84169736]\n",
      "p_ = \n",
      "[[ 2.28486674e-01 -1.55427484e-02 -1.23876328e-02]\n",
      " [-1.55427484e-02  2.58668322e-01 -1.03954517e-04]\n",
      " [-1.23876328e-02 -1.03954517e-04  2.60885329e-01]]\n",
      "num = \n",
      "429\n",
      "SENSOR 9 3.7518939771 -0.918292146011\n",
      "\n",
      "num = \n",
      "430\n",
      "SENSOR 2 4.21633761598 -3.02832665334\n",
      "\n",
      "num = \n",
      "431\n",
      "SENSOR 3 1.18763314519 -2.0979866523\n",
      "\n",
      "num = \n",
      "432\n",
      "SENSOR 7 4.57848442895 -1.89875432575\n",
      "\n",
      "num = \n",
      "433\n",
      "ODOMETRY -0.00985362326451 0.100067538531 -0.0193174898999\n",
      "\n",
      "m_ = \n",
      "[1.13566675 1.42782689 8.01844605]\n",
      "p_ = \n",
      "[[ 0.22852554 -0.01635607 -0.01092052]\n",
      " [-0.01635607  0.2571642  -0.00111727]\n",
      " [-0.01092052 -0.00111727  0.26046568]]\n",
      "num = \n",
      "434\n",
      "SENSOR 9 3.59551880688 -0.808067235008\n",
      "\n",
      "num = \n",
      "435\n",
      "SENSOR 2 4.17678928397 -2.9234396319\n",
      "\n",
      "num = \n",
      "436\n",
      "SENSOR 3 1.07794432908 -2.21510076284\n",
      "\n",
      "num = \n",
      "437\n",
      "SENSOR 7 4.51763234841 -1.82762500095\n",
      "\n",
      "num = \n",
      "438\n",
      "ODOMETRY -0.0106424165584 0.0998962699375 -0.0193739099135\n",
      "\n",
      "m_ = \n",
      "[1.05453773 1.56360862 8.05564085]\n",
      "p_ = \n",
      "[[ 0.22803264 -0.01694031 -0.01029268]\n",
      " [-0.01694031  0.26168271  0.00241507]\n",
      " [-0.01029268  0.00241507  0.26191421]]\n",
      "num = \n",
      "439\n",
      "SENSOR 9 3.54948085637 -0.797013500387\n",
      "\n",
      "num = \n",
      "440\n",
      "SENSOR 2 4.28131949654 -2.97537943488\n",
      "\n",
      "num = \n",
      "441\n",
      "SENSOR 3 1.24246440412 -2.3096004705\n",
      "\n",
      "num = \n",
      "442\n",
      "SENSOR 7 4.5411888941 -1.80078211601\n",
      "\n",
      "num = \n",
      "443\n",
      "ODOMETRY -0.0104250459457 0.100075632863 -0.0188431839508\n",
      "\n",
      "m_ = \n",
      "[1.03806965 1.63360223 8.1545169 ]\n",
      "p_ = \n",
      "[[ 0.22796262 -0.01753915 -0.00894713]\n",
      " [-0.01753915  0.26140938  0.00196051]\n",
      " [-0.00894713  0.00196051  0.26129973]]\n",
      "num = \n",
      "444\n",
      "SENSOR 9 3.48168308597 -0.705073049043\n",
      "\n",
      "num = \n",
      "445\n",
      "SENSOR 2 4.51016536991 -2.85015444599\n",
      "\n",
      "num = \n",
      "446\n",
      "SENSOR 3 1.17397867689 -2.26384820849\n",
      "\n",
      "num = \n",
      "447\n",
      "SENSOR 7 4.58368921745 -1.81442387473\n",
      "\n",
      "num = \n",
      "448\n",
      "ODOMETRY -0.0101771473921 0.100011050735 -0.0196083731561\n",
      "\n",
      "m_ = \n",
      "[0.95026966 1.70857426 8.24150932]\n",
      "p_ = \n",
      "[[ 0.22767112 -0.01777914 -0.00780319]\n",
      " [-0.01777914  0.26350727  0.00268882]\n",
      " [-0.00780319  0.00268882  0.26091602]]\n",
      "num = \n",
      "449\n",
      "SENSOR 9 3.53348326087 -0.784447831034\n",
      "\n",
      "num = \n",
      "450\n",
      "SENSOR 2 4.52117731575 -2.89659106551\n",
      "\n",
      "num = \n",
      "451\n",
      "SENSOR 3 1.39890586374 -2.14286560722\n",
      "\n",
      "num = \n",
      "452\n",
      "SENSOR 7 4.76172397197 -1.82219242799\n",
      "\n",
      "num = \n",
      "453\n",
      "ODOMETRY -0.0101785548489 0.100004838788 -0.0202689362584\n",
      "\n",
      "m_ = \n",
      "[0.95346927 1.6074888  8.36114735]\n",
      "p_ = \n",
      "[[ 0.22740648 -0.01802531 -0.00695364]\n",
      " [-0.01802531  0.26572289  0.00321729]\n",
      " [-0.00695364  0.00321729  0.26045062]]\n",
      "num = \n",
      "454\n",
      "SENSOR 9 3.44733618805 -0.725368623109\n",
      "\n",
      "num = \n",
      "455\n",
      "SENSOR 2 4.69146013992 -2.87115134275\n",
      "\n",
      "num = \n",
      "456\n",
      "SENSOR 3 1.50765435383 -2.22245197353\n",
      "\n",
      "num = \n",
      "457\n",
      "SENSOR 7 4.48642435312 -1.84876318884\n",
      "\n",
      "num = \n",
      "458\n",
      "ODOMETRY -0.0091227397028 0.0999924972858 -0.0181685651638\n",
      "\n",
      "m_ = \n",
      "[0.92542946 1.72610913 8.42164189]\n",
      "p_ = \n",
      "[[ 0.22724756 -0.01800035 -0.00757334]\n",
      " [-0.01800035  0.2694573   0.00532489]\n",
      " [-0.00757334  0.00532489  0.26100403]]\n",
      "num = \n",
      "459\n",
      "SENSOR 9 3.22534891044 -0.724699872244\n",
      "\n",
      "num = \n",
      "460\n",
      "SENSOR 2 4.82403976411 -2.9345124872\n",
      "\n",
      "num = \n",
      "461\n",
      "SENSOR 3 1.40944143312 -2.41378091735\n",
      "\n",
      "num = \n",
      "462\n",
      "SENSOR 7 4.61353587116 -1.78898785581\n",
      "\n",
      "num = \n",
      "463\n",
      "ODOMETRY -0.00990767375964 0.0999963798923 -0.0204463659192\n",
      "\n",
      "m_ = \n",
      "[0.91827979 1.89152199 8.49120167]\n",
      "p_ = \n",
      "[[ 0.22706123 -0.01818121 -0.00659003]\n",
      " [-0.01818121  0.27084935  0.0049084 ]\n",
      " [-0.00659003  0.0049084   0.2601648 ]]\n",
      "num = \n",
      "464\n",
      "SENSOR 9 3.2978264557 -0.848937354757\n",
      "\n",
      "num = \n",
      "465\n",
      "SENSOR 2 4.79210487087 -2.88027569823\n",
      "\n",
      "num = \n",
      "466\n",
      "SENSOR 3 1.57460267827 -2.35009049783\n",
      "\n",
      "num = \n",
      "467\n",
      "SENSOR 7 4.86239210585 -1.68728512464\n",
      "\n",
      "num = \n",
      "468\n",
      "ODOMETRY -0.0105209157752 0.100056520755 -0.0199923529952\n",
      "\n",
      "m_ = \n",
      "[0.902415   1.81350827 8.61082937]\n",
      "p_ = \n",
      "[[ 0.22675478 -0.01813178 -0.00520492]\n",
      " [-0.01813178  0.27230532  0.00381364]\n",
      " [-0.00520492  0.00381364  0.25895667]]\n",
      "num = \n",
      "469\n",
      "SENSOR 9 3.11237333983 -0.828608726065\n",
      "\n",
      "num = \n",
      "470\n",
      "SENSOR 2 5.1348537585 -2.83576534622\n",
      "\n",
      "num = \n",
      "471\n",
      "SENSOR 3 1.7099726366 -2.2858612058\n",
      "\n",
      "num = \n",
      "472\n",
      "SENSOR 7 4.90049538427 -1.78150085169\n",
      "\n",
      "num = \n",
      "473\n",
      "ODOMETRY -0.010155344285 0.100089786643 -0.0198085659559\n",
      "\n",
      "m_ = \n",
      "[0.8569756  1.89267224 8.79661046]\n",
      "p_ = \n",
      "[[ 0.2266849  -0.01813938 -0.00565623]\n",
      " [-0.01813938  0.27523586  0.00531212]\n",
      " [-0.00565623  0.00531212  0.25916297]]\n",
      "num = \n",
      "474\n",
      "SENSOR 9 2.99996691085 -0.765112595878\n",
      "\n",
      "num = \n",
      "475\n",
      "SENSOR 3 1.6542766528 -2.40104297088\n",
      "\n",
      "num = \n",
      "476\n",
      "SENSOR 7 4.68837972288 -1.72827448368\n",
      "\n",
      "num = \n",
      "477\n",
      "ODOMETRY -0.00967291193757 0.100124175068 -0.0205587676625\n",
      "\n",
      "m_ = \n",
      "[0.82076746 2.05090694 8.76446868]\n",
      "p_ = \n",
      "[[ 0.23588989 -0.02380971 -0.0146258 ]\n",
      " [-0.02380971  0.28919284  0.02189867]\n",
      " [-0.0146258   0.02189867  0.28453132]]\n",
      "num = \n",
      "478\n",
      "SENSOR 9 2.99807347078 -0.696237174014\n",
      "\n",
      "num = \n",
      "479\n",
      "SENSOR 3 1.7267487227 -2.3662440395\n",
      "\n",
      "num = \n",
      "480\n",
      "SENSOR 7 4.7350984348 -1.75139975295\n",
      "\n",
      "num = \n",
      "481\n",
      "ODOMETRY -0.0101662059319 0.100228934457 -0.0199252685348\n",
      "\n",
      "m_ = \n",
      "[0.77887705 2.09875734 8.79813972]\n",
      "p_ = \n",
      "[[ 0.23611543 -0.02433786 -0.01406552]\n",
      " [-0.02433786  0.29036172  0.02150492]\n",
      " [-0.01406552  0.02150492  0.28450969]]\n",
      "num = \n",
      "482\n",
      "SENSOR 9 3.15312197773 -0.769591095276\n",
      "\n",
      "num = \n",
      "483\n",
      "SENSOR 3 1.73627144755 -2.31623144182\n",
      "\n",
      "num = \n",
      "484\n",
      "SENSOR 7 5.06411728014 -1.71705818396\n",
      "\n",
      "num = \n",
      "485\n",
      "ODOMETRY -0.0107211355799 0.0999927335192 -0.020501983192\n",
      "\n",
      "m_ = \n",
      "[0.78458934 1.96468031 8.90010804]\n",
      "p_ = \n",
      "[[ 0.23593421 -0.02423956 -0.0135647 ]\n",
      " [-0.02423956  0.29125667  0.02107354]\n",
      " [-0.0135647   0.02107354  0.28360861]]\n",
      "num = \n",
      "486\n",
      "SENSOR 9 2.86278392437 -0.743762595525\n",
      "\n",
      "num = \n",
      "487\n",
      "SENSOR 3 1.84695799822 -2.43783547802\n",
      "\n",
      "num = \n",
      "488\n",
      "SENSOR 7 5.07231532054 -1.68808003478\n",
      "\n",
      "num = \n",
      "489\n",
      "ODOMETRY -0.00979459746259 0.100025076699 -0.0197251786846\n",
      "\n",
      "m_ = \n",
      "[0.75992227 2.1135124  9.00243747]\n",
      "p_ = \n",
      "[[ 0.23626798 -0.02490438 -0.01505804]\n",
      " [-0.02490438  0.29433817  0.0245795 ]\n",
      " [-0.01505804  0.0245795   0.28634482]]\n",
      "num = \n",
      "490\n",
      "SENSOR 9 2.82075829413 -0.688148179119\n",
      "\n",
      "num = \n",
      "491\n",
      "SENSOR 3 2.02116189813 -2.39856289262\n",
      "\n",
      "num = \n",
      "492\n",
      "SENSOR 7 4.91405340171 -1.71247547809\n",
      "\n",
      "num = \n",
      "493\n",
      "ODOMETRY -0.00880991332931 0.0997863392491 -0.0197458769482\n",
      "\n",
      "m_ = \n",
      "[0.70559268 2.23735805 9.0669573 ]\n",
      "p_ = \n",
      "[[ 0.23588201 -0.02466206 -0.01369974]\n",
      " [-0.02466206  0.29684363  0.02349118]\n",
      " [-0.01369974  0.02349118  0.28376542]]\n",
      "num = \n",
      "494\n",
      "SENSOR 9 2.83728718149 -0.703540952524\n",
      "\n",
      "num = \n",
      "495\n",
      "SENSOR 3 1.93000650123 -2.36970627286\n",
      "\n",
      "num = \n",
      "496\n",
      "SENSOR 7 4.79347993043 -1.6329273271\n",
      "\n",
      "num = \n",
      "497\n",
      "ODOMETRY -0.0100580444163 0.10021748682 -0.0200095441708\n",
      "\n",
      "m_ = \n",
      "[0.669613   2.27624226 9.02291998]\n",
      "p_ = \n",
      "[[ 0.23554613 -0.02429835 -0.01250689]\n",
      " [-0.02429835  0.29812867  0.02184481]\n",
      " [-0.01250689  0.02184481  0.28128917]]\n",
      "num = \n",
      "498\n",
      "SENSOR 9 2.51641560778 -0.756300137634\n",
      "\n",
      "num = \n",
      "499\n",
      "SENSOR 3 2.09607292645 -2.38526777678\n",
      "\n",
      "num = \n",
      "500\n",
      "SENSOR 7 5.06835478059 -1.72475485601\n",
      "\n",
      "num = \n",
      "501\n",
      "ODOMETRY -0.0104281508158 0.10000140247 -0.0199377152457\n",
      "\n",
      "m_ = \n",
      "[0.66176128 2.41250152 9.19948678]\n",
      "p_ = \n",
      "[[ 0.23539618 -0.02389886 -0.0119571 ]\n",
      " [-0.02389886  0.29681958  0.02041012]\n",
      " [-0.0119571   0.02041012  0.28030963]]\n",
      "num = \n",
      "502\n",
      "SENSOR 9 2.45948289837 -0.76021264418\n",
      "\n",
      "num = \n",
      "503\n",
      "SENSOR 3 2.06522117309 -2.33318420312\n",
      "\n",
      "num = \n",
      "504\n",
      "SENSOR 7 4.84613918824 -1.61007685337\n",
      "\n",
      "num = \n",
      "505\n",
      "ODOMETRY -0.0097623943034 0.0999813928244 -0.0206369980195\n",
      "\n",
      "m_ = \n",
      "[0.59549016 2.52334326 9.18589592]\n",
      "p_ = \n",
      "[[ 0.23520384 -0.02388896 -0.01119532]\n",
      " [-0.02388896  0.30045635  0.0199218 ]\n",
      " [-0.01119532  0.0199218   0.2781856 ]]\n",
      "num = \n",
      "506\n",
      "SENSOR 9 2.57479230149 -0.632819077978\n",
      "\n",
      "num = \n",
      "507\n",
      "SENSOR 3 2.177346285 -2.42626146831\n",
      "\n",
      "num = \n",
      "508\n",
      "SENSOR 7 5.05551333216 -1.69863156486\n",
      "\n",
      "num = \n",
      "509\n",
      "ODOMETRY -0.00975220094369 0.100042185698 -0.0200047749536\n",
      "\n",
      "m_ = \n",
      "[0.59653268 2.5223297  9.25330554]\n",
      "p_ = \n",
      "[[ 0.23498205 -0.02344929 -0.01042392]\n",
      " [-0.02344929  0.29996442  0.01790501]\n",
      " [-0.01042392  0.01790501  0.2764297 ]]\n",
      "num = \n",
      "510\n",
      "SENSOR 9 2.5074325001 -0.609410447289\n",
      "\n",
      "num = \n",
      "511\n",
      "SENSOR 3 2.3010604256 -2.35179262067\n",
      "\n",
      "num = \n",
      "512\n",
      "SENSOR 7 4.90749675187 -1.70419293696\n",
      "\n",
      "num = \n",
      "513\n",
      "ODOMETRY -0.00927676045743 0.100208064048 -0.0191796860605\n",
      "\n",
      "m_ = \n",
      "[0.55269704 2.59785143 9.28509714]\n",
      "p_ = \n",
      "[[ 0.23504225 -0.02365133 -0.01043242]\n",
      " [-0.02365133  0.30147894  0.01840484]\n",
      " [-0.01043242  0.01840484  0.27624157]]\n",
      "num = \n",
      "514\n",
      "SENSOR 9 2.41626913018 -0.724594121384\n",
      "\n",
      "num = \n",
      "515\n",
      "SENSOR 3 2.52272282794 -2.4239408799\n",
      "\n",
      "num = \n",
      "516\n",
      "SENSOR 7 4.70640264651 -1.63618162589\n",
      "\n",
      "num = \n",
      "517\n",
      "ODOMETRY -0.0099067860188 0.0998711486494 -0.0194012350076\n",
      "\n",
      "m_ = \n",
      "[0.5439635  2.75405734 9.34655895]\n",
      "p_ = \n",
      "[[ 0.23499172 -0.02361995 -0.01012535]\n",
      " [-0.02361995  0.30217199  0.01764602]\n",
      " [-0.01012535  0.01764602  0.27524732]]\n",
      "num = \n",
      "518\n",
      "SENSOR 9 2.24529394017 -0.685502521964\n",
      "\n",
      "num = \n",
      "519\n",
      "SENSOR 3 2.31844097149 -2.42828855555\n",
      "\n",
      "num = \n",
      "520\n",
      "SENSOR 7 4.95528000197 -1.57288604154\n",
      "\n",
      "num = \n",
      "521\n",
      "ODOMETRY -0.00983384980744 0.0999224766995 -0.0204305528243\n",
      "\n",
      "m_ = \n",
      "[0.50239876 2.81197331 9.35819024]\n",
      "p_ = \n",
      "[[ 0.23491879 -0.02348519 -0.00948789]\n",
      " [-0.02348519  0.30312723  0.0158324 ]\n",
      " [-0.00948789  0.0158324   0.27314583]]\n",
      "num = \n",
      "522\n",
      "SENSOR 9 2.18268166452 -0.647873105786\n",
      "\n",
      "num = \n",
      "523\n",
      "SENSOR 3 2.60693896315 -2.37482011041\n",
      "\n",
      "num = \n",
      "524\n",
      "SENSOR 7 4.87407767625 -1.66971167459\n",
      "\n",
      "num = \n",
      "525\n",
      "ODOMETRY -0.0102628286794 0.0997605730161 -0.0210500632473\n",
      "\n",
      "m_ = \n",
      "[0.46249334 2.94050763 9.44661959]\n",
      "p_ = \n",
      "[[ 0.23487802 -0.02328901 -0.00916951]\n",
      " [-0.02328901  0.30310417  0.01485478]\n",
      " [-0.00916951  0.01485478  0.27221701]]\n",
      "num = \n",
      "526\n",
      "SENSOR 9 2.15683089899 -0.642555173461\n",
      "\n",
      "num = \n",
      "527\n",
      "SENSOR 3 2.6756869293 -2.29039615081\n",
      "\n",
      "num = \n",
      "528\n",
      "SENSOR 7 5.11674482285 -1.47951929626\n",
      "\n",
      "num = \n",
      "529\n",
      "ODOMETRY -0.0101962211399 0.099836539792 -0.0188237479265\n",
      "\n",
      "m_ = \n",
      "[0.35470345 2.98169674 9.58093098]\n",
      "p_ = \n",
      "[[ 0.23500944 -0.02345502 -0.00875932]\n",
      " [-0.02345502  0.30474162  0.01369629]\n",
      " [-0.00875932  0.01369629  0.27046379]]\n",
      "num = \n",
      "530\n",
      "SENSOR 9 1.9915555629 -0.605343778173\n",
      "\n",
      "num = \n",
      "531\n",
      "SENSOR 3 2.8321255953 -2.36581198314\n",
      "\n",
      "num = \n",
      "532\n",
      "SENSOR 7 4.93146123799 -1.5890166699\n",
      "\n",
      "num = \n",
      "533\n",
      "ODOMETRY -0.0109072611821 0.100057984487 -0.0199246493126\n",
      "\n",
      "m_ = \n",
      "[0.34503898 3.16497778 9.59670521]\n",
      "p_ = \n",
      "[[ 0.23533162 -0.02470489 -0.00877021]\n",
      " [-0.02470489  0.30896384  0.01443487]\n",
      " [-0.00877021  0.01443487  0.26972328]]\n",
      "num = \n",
      "534\n",
      "SENSOR 9 2.05060986776 -0.812359999266\n",
      "\n",
      "num = \n",
      "535\n",
      "SENSOR 3 2.89469192638 -2.33538439474\n",
      "\n",
      "num = \n",
      "536\n",
      "SENSOR 7 5.06379731865 -1.57967642574\n",
      "\n",
      "num = \n",
      "537\n",
      "ODOMETRY -0.0110088218391 0.10014697699 -0.0202732496012\n",
      "\n",
      "m_ = \n",
      "[0.37143987 3.19556079 9.72701538]\n",
      "p_ = \n",
      "[[ 0.23553462 -0.02522247 -0.00837902]\n",
      " [-0.02522247  0.30975419  0.01204188]\n",
      " [-0.00837902  0.01204188  0.26746226]]\n",
      "num = \n",
      "538\n",
      "SENSOR 9 1.9855033654 -0.729611380785\n",
      "\n",
      "num = \n",
      "539\n",
      "SENSOR 3 2.808098691 -2.40456966848\n",
      "\n",
      "num = \n",
      "540\n",
      "SENSOR 7 5.00506879142 -1.52174912725\n",
      "\n",
      "num = \n",
      "541\n",
      "ODOMETRY -0.0097077990525 0.100157141283 -0.0214692363299\n",
      "\n",
      "m_ = \n",
      "[0.35347038 3.23131087 9.68002639]\n",
      "p_ = \n",
      "[[ 0.23591558 -0.02668657 -0.0082205 ]\n",
      " [-0.02668657  0.31427299  0.01259426]\n",
      " [-0.0082205   0.01259426  0.26680239]]\n",
      "num = \n",
      "542\n",
      "SENSOR 9 1.85666944851 -0.732607970484\n",
      "\n",
      "num = \n",
      "543\n",
      "SENSOR 3 3.15325419611 -2.35565991968\n",
      "\n",
      "num = \n",
      "544\n",
      "SENSOR 7 4.77716786006 -1.61242538926\n",
      "\n",
      "num = \n",
      "545\n",
      "ODOMETRY -0.00981948245873 0.0999149565253 -0.020711936978\n",
      "\n",
      "m_ = \n",
      "[0.31835386 3.43320669 9.7142878 ]\n",
      "p_ = \n",
      "[[ 0.23589937 -0.02631017 -0.00811794]\n",
      " [-0.02631017  0.31299555  0.01162343]\n",
      " [-0.00811794  0.01162343  0.26635391]]\n",
      "num = \n",
      "546\n",
      "SENSOR 9 1.66695280875 -0.677940267447\n",
      "\n",
      "num = \n",
      "547\n",
      "SENSOR 3 2.93583551959 -2.29721883235\n",
      "\n",
      "num = \n",
      "548\n",
      "SENSOR 7 4.77792363509 -1.55059855566\n",
      "\n",
      "num = \n",
      "549\n",
      "ODOMETRY -0.00992896039159 0.0998189682803 -0.0204511862369\n",
      "\n",
      "m_ = \n",
      "[0.25372414 3.53137857 9.63551963]\n",
      "p_ = \n",
      "[[ 0.23637192 -0.0270963  -0.00749982]\n",
      " [-0.0270963   0.31349694  0.00844597]\n",
      " [-0.00749982  0.00844597  0.26374391]]\n",
      "num = \n",
      "550\n",
      "SENSOR 9 1.71819656468 -0.707245929411\n",
      "\n",
      "num = \n",
      "551\n",
      "SENSOR 3 3.02406315637 -2.3968858507\n",
      "\n",
      "num = \n",
      "552\n",
      "SENSOR 7 4.90173372979 -1.65060778383\n",
      "\n",
      "num = \n",
      "553\n",
      "ODOMETRY -0.00884110158486 0.100015505449 -0.0206146468981\n",
      "\n",
      "m_ = \n",
      "[0.30349277 3.55661928 9.6791048 ]\n",
      "p_ = \n",
      "[[ 0.23637815 -0.02664292 -0.00735709]\n",
      " [-0.02664292  0.31077251  0.00597168]\n",
      " [-0.00735709  0.00597168  0.26221696]]\n",
      "num = \n",
      "554\n",
      "SENSOR 9 1.70981171667 -0.684234093975\n",
      "\n",
      "num = \n",
      "555\n",
      "SENSOR 3 3.16299858885 -2.37554434755\n",
      "\n",
      "num = \n",
      "556\n",
      "SENSOR 7 5.05446186142 -1.55954853363\n",
      "\n",
      "num = \n",
      "557\n",
      "ODOMETRY -0.0102024861503 0.10032005589 -0.0183984058531\n",
      "\n",
      "m_ = \n",
      "[0.25023807 3.59356392 9.7714908 ]\n",
      "p_ = \n",
      "[[ 0.2365721  -0.02707848 -0.00706982]\n",
      " [-0.02707848  0.31169082  0.0054972 ]\n",
      " [-0.00706982  0.0054972   0.261809  ]]\n",
      "num = \n",
      "558\n",
      "SENSOR 9 1.48285099536 -0.732863940447\n",
      "\n",
      "num = \n",
      "559\n",
      "SENSOR 3 3.24066838872 -2.3472192049\n",
      "\n",
      "num = \n",
      "560\n",
      "SENSOR 7 5.02189688945 -1.52629273662\n",
      "\n",
      "num = \n",
      "561\n",
      "ODOMETRY -0.0095354970248 0.100025384548 -0.0207858100942\n",
      "\n",
      "m_ = \n",
      "[0.19719789 3.75594502 9.80010828]\n",
      "p_ = \n",
      "[[ 0.23701135 -0.02844782 -0.00666244]\n",
      " [-0.02844782  0.31503779  0.00532488]\n",
      " [-0.00666244  0.00532488  0.26143757]]\n",
      "num = \n",
      "562\n",
      "SENSOR 9 1.46150131465 -0.767666096771\n",
      "\n",
      "num = \n",
      "563\n",
      "SENSOR 3 3.22029667183 -2.36535752613\n",
      "\n",
      "num = \n",
      "564\n",
      "SENSOR 7 4.84479242128 -1.46298563412\n",
      "\n",
      "num = \n",
      "565\n",
      "ODOMETRY -0.00906969760687 0.099796851015 -0.0208710090182\n",
      "\n",
      "m_ = \n",
      "[0.17204474 3.85126555 9.75651162]\n",
      "p_ = \n",
      "[[ 0.23783679 -0.03015008 -0.00585919]\n",
      " [-0.03015008  0.31631612  0.00211878]\n",
      " [-0.00585919  0.00211878  0.25951544]]\n",
      "num = \n",
      "566\n",
      "SENSOR 9 1.53472735309 -0.701353506585\n",
      "\n",
      "num = \n",
      "567\n",
      "SENSOR 3 3.30563763836 -2.28920291979\n",
      "\n",
      "num = \n",
      "568\n",
      "SENSOR 7 5.08447465054 -1.48707316086\n",
      "\n",
      "num = \n",
      "569\n",
      "ODOMETRY -0.00996926665775 0.100146565387 -0.018774822561\n",
      "\n",
      "m_ = \n",
      "[0.12738232 3.8408531  9.84152846]\n",
      "p_ = \n",
      "[[ 0.23823962 -0.03029144 -0.00540928]\n",
      " [-0.03029144  0.31422276 -0.00067148]\n",
      " [-0.00540928 -0.00067148  0.25808245]]\n",
      "num = \n",
      "570\n",
      "SENSOR 9 1.27538476788 -0.825565964241\n",
      "\n",
      "num = \n",
      "571\n",
      "SENSOR 3 3.52081304084 -2.35140411346\n",
      "\n",
      "num = \n",
      "572\n",
      "SENSOR 7 4.9713536015 -1.50506099629\n",
      "\n",
      "num = \n",
      "573\n",
      "ODOMETRY -0.00982937584718 0.100296415285 -0.0202122708831\n",
      "\n",
      "m_ = \n",
      "[0.11881404 4.06608429 9.86481498]\n",
      "p_ = \n",
      "[[ 2.38422062e-01 -3.13492811e-02 -4.96608940e-03]\n",
      " [-3.13492811e-02  3.17432647e-01 -1.87940067e-04]\n",
      " [-4.96608940e-03 -1.87940067e-04  2.58558972e-01]]\n",
      "num = \n",
      "574\n",
      "SENSOR 9 1.28245800998 -0.820894690375\n",
      "\n",
      "num = \n",
      "575\n",
      "SENSOR 3 3.61786607428 -2.28348332028\n",
      "\n",
      "num = \n",
      "576\n",
      "SENSOR 7 4.72683380487 -1.5245034595\n",
      "\n",
      "num = \n",
      "577\n",
      "ODOMETRY -0.00967296493409 0.100095993623 -0.0208377359394\n",
      "\n",
      "m_ = \n",
      "[0.06860615 4.20503718 9.82293113]\n",
      "p_ = \n",
      "[[ 0.24001263 -0.03410787 -0.00295441]\n",
      " [-0.03410787  0.31699908 -0.00601077]\n",
      " [-0.00295441 -0.00601077  0.25690956]]\n",
      "num = \n",
      "578\n",
      "SENSOR 9 1.22717122688 -0.834555116798\n",
      "\n",
      "num = \n",
      "579\n",
      "SENSOR 3 3.46599411335 -2.26643278842\n",
      "\n",
      "num = \n",
      "580\n",
      "SENSOR 7 4.77048897684 -1.61915796579\n",
      "\n",
      "num = \n",
      "581\n",
      "ODOMETRY -0.00983012240915 0.100048682167 -0.0200418409326\n",
      "\n",
      "m_ = \n",
      "[0.09227109 4.22210799 9.78628195]\n",
      "p_ = \n",
      "[[ 0.24115537 -0.0353994  -0.00136147]\n",
      " [-0.0353994   0.31316113 -0.01098374]\n",
      " [-0.00136147 -0.01098374  0.25603755]]\n",
      "num = \n",
      "582\n",
      "SENSOR 9 1.21052101312 -0.846681880547\n",
      "\n",
      "num = \n",
      "583\n",
      "SENSOR 3 3.70451197871 -2.25861912203\n",
      "\n",
      "num = \n",
      "584\n",
      "SENSOR 7 5.07806532139 -1.49123903126\n",
      "\n",
      "num = \n",
      "585\n",
      "ODOMETRY -0.00930456459578 0.100071988622 -0.0204347040085\n",
      "\n",
      "m_ = \n",
      "[0.01927036 4.28877563 9.91146642]\n",
      "p_ = \n",
      "[[ 0.24123963 -0.03469773 -0.00120986]\n",
      " [-0.03469773  0.31032905 -0.01223239]\n",
      " [-0.00120986 -0.01223239  0.25559933]]\n",
      "num = \n",
      "586\n",
      "SENSOR 9 1.12120365478 -0.935390860361\n",
      "\n",
      "num = \n",
      "587\n",
      "SENSOR 3 3.58620574347 -2.27331836708\n",
      "\n",
      "num = \n",
      "588\n",
      "SENSOR 7 4.76861242282 -1.53629792407\n",
      "\n",
      "num = \n",
      "589\n",
      "ODOMETRY 0.000468699390922 0.0998304456128 -2.5849995276e-05\n",
      "\n",
      "m_ = \n",
      "[0.0676559  4.37776729 9.82555891]\n",
      "p_ = \n",
      "[[ 0.24196884 -0.03725408  0.00064113]\n",
      " [-0.03725408  0.31465762 -0.01310564]\n",
      " [ 0.00064113 -0.01310564  0.25708191]]\n",
      "num = \n",
      "590\n",
      "SENSOR 9 1.14054428171 -0.998313577557\n",
      "\n",
      "num = \n",
      "591\n",
      "SENSOR 3 3.55052396622 -2.27149420334\n",
      "\n",
      "num = \n",
      "592\n",
      "SENSOR 6 4.97342840955 -0.481153301138\n",
      "\n",
      "num = \n",
      "593\n",
      "SENSOR 7 4.93140206369 -1.5097071492\n",
      "\n",
      "num = \n",
      "594\n",
      "ODOMETRY -0.000306172617703 0.0998659733612 0.00088045160042\n",
      "\n",
      "m_ = \n",
      "[0.07633546 4.41921815 9.85914699]\n",
      "p_ = \n",
      "[[ 0.22958309 -0.02038604 -0.00415996]\n",
      " [-0.02038604  0.2691341  -0.00332568]\n",
      " [-0.00415996 -0.00332568  0.2521515 ]]\n",
      "num = \n",
      "595\n",
      "SENSOR 9 0.908943386111 -1.05078434189\n",
      "\n",
      "num = \n",
      "596\n",
      "SENSOR 3 3.92854556221 -2.37317280336\n",
      "\n",
      "num = \n",
      "597\n",
      "SENSOR 6 4.65017824828 -0.48503026696\n",
      "\n",
      "num = \n",
      "598\n",
      "SENSOR 7 4.82256937785 -1.46085672931\n",
      "\n",
      "num = \n",
      "599\n",
      "ODOMETRY 6.35865396476e-05 0.100145996251 0.000825376841077\n",
      "\n",
      "m_ = \n",
      "[0.03176669 4.67427077 9.82088407]\n",
      "p_ = \n",
      "[[ 0.22918617 -0.01954355 -0.0038373 ]\n",
      " [-0.01954355  0.26623145 -0.00293928]\n",
      " [-0.0038373  -0.00293928  0.25230178]]\n",
      "num = \n",
      "600\n",
      "SENSOR 9 0.827243169323 -1.09325181967\n",
      "\n",
      "num = \n",
      "601\n",
      "SENSOR 3 3.73413074447 -2.37141305415\n",
      "\n",
      "num = \n",
      "602\n",
      "SENSOR 6 4.78905396728 -0.408920738147\n",
      "\n",
      "num = \n",
      "603\n",
      "SENSOR 7 4.99209306977 -1.55682191086\n",
      "\n",
      "num = \n",
      "604\n",
      "ODOMETRY 0.000201838205791 0.100136187552 -0.00014387330981\n",
      "\n",
      "m_ = \n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[0.04198702 4.67057658 9.81593522]\n",
      "p_ = \n",
      "[[ 0.22988893 -0.01986263 -0.00111653]\n",
      " [-0.01986263  0.25752992 -0.00613798]\n",
      " [-0.00111653 -0.00613798  0.25348419]]\n",
      "num = \n",
      "605\n",
      "SENSOR 9 0.854965120184 -1.30243719417\n",
      "\n",
      "num = \n",
      "606\n",
      "SENSOR 3 4.08986785793 -2.31375803278\n",
      "\n",
      "num = \n",
      "607\n",
      "SENSOR 6 4.49746631975 -0.415197960969\n",
      "\n",
      "num = \n",
      "608\n",
      "SENSOR 7 4.91878504334 -1.53841931157\n",
      "\n",
      "num = \n",
      "609\n",
      "ODOMETRY 0.000309566514052 0.099997143531 0.000424327411615\n",
      "\n",
      "m_ = \n",
      "[-0.01061193  4.89813244  9.86391471]\n",
      "p_ = \n",
      "[[ 0.22985342 -0.01954639 -0.0010707 ]\n",
      " [-0.01954639  0.25683167 -0.00638493]\n",
      " [-0.0010707  -0.00638493  0.25349029]]\n",
      "num = \n",
      "610\n",
      "SENSOR 9 0.829574081247 -1.34777510094\n",
      "\n",
      "num = \n",
      "611\n",
      "SENSOR 3 3.99649915462 -2.37661430213\n",
      "\n",
      "num = \n",
      "612\n",
      "SENSOR 6 4.86215564276 -0.354259931521\n",
      "\n",
      "num = \n",
      "613\n",
      "SENSOR 7 5.17293988297 -1.61785902826\n",
      "\n",
      "num = \n",
      "614\n",
      "ODOMETRY -0.000499775865667 0.0998879891969 -0.000202950445095\n",
      "\n",
      "m_ = \n",
      "[0.02815092 4.84987093 9.95845547]\n",
      "p_ = \n",
      "[[ 0.23002145 -0.02016687  0.00181324]\n",
      " [-0.02016687  0.25455391 -0.00452794]\n",
      " [ 0.00181324 -0.00452794  0.25563349]]\n",
      "num = \n",
      "615\n",
      "SENSOR 9 0.926234276526 -1.50863813963\n",
      "\n",
      "num = \n",
      "616\n",
      "SENSOR 3 4.06561199195 -2.33294732347\n",
      "\n",
      "num = \n",
      "617\n",
      "SENSOR 6 4.52518969077 -0.459458859882\n",
      "\n",
      "num = \n",
      "618\n",
      "SENSOR 7 4.90713478296 -1.6534950895\n",
      "\n",
      "num = \n",
      "619\n",
      "ODOMETRY 0.000159821856273 0.0999413115697 0.000165823443296\n",
      "\n",
      "m_ = \n",
      "[0.04180424 4.98633927 9.92426808]\n",
      "p_ = \n",
      "[[ 0.22971309 -0.02083165  0.0012616 ]\n",
      " [-0.02083165  0.26076711 -0.00403684]\n",
      " [ 0.0012616  -0.00403684  0.25514928]]\n",
      "num = \n",
      "620\n",
      "SENSOR 9 0.798977474978 -1.61450594503\n",
      "\n",
      "num = \n",
      "621\n",
      "SENSOR 3 4.24005259522 -2.48339290405\n",
      "\n",
      "num = \n",
      "622\n",
      "SENSOR 6 4.37753199658 -0.439993648344\n",
      "\n",
      "num = \n",
      "623\n",
      "SENSOR 7 4.78729857286 -1.52285334952\n",
      "\n",
      "num = \n",
      "624\n",
      "ODOMETRY 0.000239336090803 0.100024339541 -0.000702745140684\n",
      "\n",
      "m_ = \n",
      "[0.01502918 5.1345779  9.84245793]\n",
      "p_ = \n",
      "[[ 0.22988827 -0.02065912  0.00291053]\n",
      " [-0.02065912  0.25785254 -0.0034798 ]\n",
      " [ 0.00291053 -0.0034798   0.25586894]]\n",
      "num = \n",
      "625\n",
      "SENSOR 9 0.85153318303 -1.74081822727\n",
      "\n",
      "num = \n",
      "626\n",
      "SENSOR 3 4.19445086514 -2.41078939754\n",
      "\n",
      "num = \n",
      "627\n",
      "SENSOR 6 4.3332692815 -0.5738717181\n",
      "\n",
      "num = \n",
      "628\n",
      "SENSOR 7 4.82886107215 -1.58958533264\n",
      "\n",
      "num = \n",
      "629\n",
      "ODOMETRY 0.000302502313308 0.0999098702903 -0.000677343238\n",
      "\n",
      "m_ = \n",
      "[0.04532128 5.19995032 9.85755217]\n",
      "p_ = \n",
      "[[ 0.23000534 -0.01996235  0.00486927]\n",
      " [-0.01996235  0.25327787 -0.00167743]\n",
      " [ 0.00486927 -0.00167743  0.25623404]]\n",
      "num = \n",
      "630\n",
      "SENSOR 9 1.00720101453 -1.80629458243\n",
      "\n",
      "num = \n",
      "631\n",
      "SENSOR 3 4.35581118198 -2.52872962107\n",
      "\n",
      "num = \n",
      "632\n",
      "SENSOR 6 4.26273136747 -0.561343932255\n",
      "\n",
      "num = \n",
      "633\n",
      "SENSOR 7 4.90576859962 -1.57561915161\n",
      "\n",
      "num = \n",
      "634\n",
      "ODOMETRY -0.000113543700968 0.0999631337801 5.71158197463e-05\n",
      "\n",
      "m_ = \n",
      "[0.05551509 5.28874053 9.93189688]\n",
      "p_ = \n",
      "[[ 0.22982833 -0.01994143  0.00566721]\n",
      " [-0.01994143  0.25500037 -0.0013287 ]\n",
      " [ 0.00566721 -0.0013287   0.25604712]]\n",
      "num = \n",
      "635\n",
      "SENSOR 9 0.926859129886 -2.02052805263\n",
      "\n",
      "num = \n",
      "636\n",
      "SENSOR 3 4.5099200538 -2.5031268995\n",
      "\n",
      "num = \n",
      "637\n",
      "SENSOR 6 4.1118649023 -0.581633953961\n",
      "\n",
      "num = \n",
      "638\n",
      "SENSOR 7 4.76898001883 -1.59231791735\n",
      "\n",
      "num = \n",
      "639\n",
      "ODOMETRY -0.000339024488948 0.100009711461 2.26344713328e-05\n",
      "\n",
      "m_ = \n",
      "[0.04658406 5.45827341 9.87640441]\n",
      "p_ = \n",
      "[[ 0.22945182 -0.02025368  0.00651744]\n",
      " [-0.02025368  0.26059782 -0.0022943 ]\n",
      " [ 0.00651744 -0.0022943   0.25591937]]\n",
      "num = \n",
      "640\n",
      "SENSOR 9 1.01426369829 -2.06024600625\n",
      "\n",
      "num = \n",
      "641\n",
      "SENSOR 3 4.50108503541 -2.50066382553\n",
      "\n",
      "num = \n",
      "642\n",
      "SENSOR 6 4.10077035421 -0.552157899173\n",
      "\n",
      "num = \n",
      "643\n",
      "SENSOR 7 4.90578246686 -1.60737195764\n",
      "\n",
      "num = \n",
      "644\n",
      "ODOMETRY -0.000504457264396 0.100013657645 -0.000177576169986\n",
      "\n",
      "m_ = \n",
      "[0.03164798 5.52757165 9.9063508 ]\n",
      "p_ = \n",
      "[[ 0.22915885 -0.01942999  0.00852067]\n",
      " [-0.01942999  0.26164775 -0.00236107]\n",
      " [ 0.00852067 -0.00236107  0.25559607]]\n",
      "num = \n",
      "645\n",
      "SENSOR 9 0.887211360034 -2.18963300619\n",
      "\n",
      "num = \n",
      "646\n",
      "SENSOR 3 4.5749440351 -2.48258346425\n",
      "\n",
      "num = \n",
      "647\n",
      "SENSOR 6 3.90635999301 -0.524342529557\n",
      "\n",
      "num = \n",
      "648\n",
      "SENSOR 7 4.99010419492 -1.6897455089\n",
      "\n",
      "num = \n",
      "649\n",
      "ODOMETRY 0.000243302162545 0.100124792442 0.000564451310213\n",
      "\n",
      "m_ = \n",
      "[0.02951774 5.64411388 9.8646167 ]\n",
      "p_ = \n",
      "[[ 0.22887935 -0.0193045   0.00908072]\n",
      " [-0.0193045   0.2642234  -0.00365225]\n",
      " [ 0.00908072 -0.00365225  0.25600506]]\n",
      "num = \n",
      "650\n",
      "SENSOR 9 0.950336814138 -2.20135217535\n",
      "\n",
      "num = \n",
      "651\n",
      "SENSOR 3 4.64575251122 -2.45474381848\n",
      "\n",
      "num = \n",
      "652\n",
      "SENSOR 6 3.94194574093 -0.493874197364\n",
      "\n",
      "num = \n",
      "653\n",
      "SENSOR 7 5.01810231369 -1.75192836429\n",
      "\n",
      "num = \n",
      "654\n",
      "ODOMETRY -0.000738312989045 0.100017614324 0.000452576665471\n",
      "\n",
      "m_ = \n",
      "[0.0211251  5.69255457 9.88977377]\n",
      "p_ = \n",
      "[[ 0.22855876 -0.01851029  0.01023864]\n",
      " [-0.01851029  0.2650724  -0.00463223]\n",
      " [ 0.01023864 -0.00463223  0.25633868]]\n",
      "num = \n",
      "655\n",
      "SENSOR 9 1.24742332493 -2.3761257833\n",
      "\n",
      "num = \n",
      "656\n",
      "SENSOR 3 4.78533958114 -2.48110189333\n",
      "\n",
      "num = \n",
      "657\n",
      "SENSOR 6 3.83981394901 -0.473736803464\n",
      "\n",
      "num = \n",
      "658\n",
      "SENSOR 7 4.94028734088 -1.67119507241\n",
      "\n",
      "num = \n",
      "659\n",
      "ODOMETRY -0.000158281123923 0.100057519587 8.25146303648e-05\n",
      "\n",
      "m_ = \n",
      "[-7.56646391e-03  5.87918243e+00  9.88684165e+00]\n",
      "p_ = \n",
      "[[ 0.22835725 -0.01832023  0.01048434]\n",
      " [-0.01832023  0.26652242 -0.00576787]\n",
      " [ 0.01048434 -0.00576787  0.25699826]]\n",
      "num = \n",
      "660\n",
      "SENSOR 9 1.25516136996 -2.38310746911\n",
      "\n",
      "num = \n",
      "661\n",
      "SENSOR 3 4.67629555186 -2.57984253808\n",
      "\n",
      "num = \n",
      "662\n",
      "SENSOR 6 3.58479173705 -0.552269803889\n",
      "\n",
      "num = \n",
      "663\n",
      "SENSOR 7 5.04082293108 -1.86475241589\n",
      "\n",
      "num = \n",
      "664\n",
      "ODOMETRY -0.000421693045302 0.100088421092 -0.000583909844015\n",
      "\n",
      "m_ = \n",
      "[0.05395113 5.95902584 9.87835868]\n",
      "p_ = \n",
      "[[ 0.22772722 -0.01744531  0.01147536]\n",
      " [-0.01744531  0.26892346 -0.00871866]\n",
      " [ 0.01147536 -0.00871866  0.25912909]]\n",
      "num = \n",
      "665\n",
      "SENSOR 9 1.30043780911 -2.42814444723\n",
      "\n",
      "num = \n",
      "666\n",
      "SENSOR 3 4.77942694559 -2.51108430416\n",
      "\n",
      "num = \n",
      "667\n",
      "SENSOR 6 3.7036104257 -0.594306761593\n",
      "\n",
      "num = \n",
      "668\n",
      "SENSOR 7 5.20342066846 -1.82597751664\n",
      "\n",
      "num = \n",
      "669\n",
      "ODOMETRY -0.000492703155817 0.0998767019988 -0.000399546911055\n",
      "\n",
      "m_ = \n",
      "[0.05805098 5.99309524 9.96266794]\n",
      "p_ = \n",
      "[[ 0.22747319 -0.01697215  0.01185427]\n",
      " [-0.01697215  0.26949673 -0.00999851]\n",
      " [ 0.01185427 -0.00999851  0.26034476]]\n",
      "num = \n",
      "670\n",
      "SENSOR 9 1.50701523022 -2.40519251821\n",
      "\n",
      "num = \n",
      "671\n",
      "SENSOR 3 4.97415244053 -2.57426809268\n",
      "\n",
      "num = \n",
      "672\n",
      "SENSOR 6 3.73937872599 -0.646973765524\n",
      "\n",
      "num = \n",
      "673\n",
      "SENSOR 7 5.04630156868 -1.81126053621\n",
      "\n",
      "num = \n",
      "674\n",
      "ODOMETRY -0.000686941708413 0.100091264802 -0.000646733220067\n",
      "\n",
      "m_ = \n",
      "[ 0.06558487  6.06523438 10.02446193]\n",
      "p_ = \n",
      "[[ 0.22735738 -0.01730884  0.01159031]\n",
      " [-0.01730884  0.27177685 -0.01131493]\n",
      " [ 0.01159031 -0.01131493  0.26113595]]\n",
      "num = \n",
      "675\n",
      "SENSOR 9 1.53949734641 -2.56047560031\n",
      "\n",
      "num = \n",
      "676\n",
      "SENSOR 6 3.54771183278 -0.554710714875\n",
      "\n",
      "num = \n",
      "677\n",
      "ODOMETRY 0.000264360795126 0.0999909746645 -0.000504895193083\n",
      "\n",
      "m_ = \n",
      "[0.04473667 6.22353103 9.96906608]\n",
      "p_ = \n",
      "[[ 0.24865819 -0.02534653  0.01354034]\n",
      " [-0.02534653  0.29722815  0.00550987]\n",
      " [ 0.01354034  0.00550987  0.29849587]]\n",
      "num = \n",
      "678\n",
      "SENSOR 9 1.51238925612 -2.52278575906\n",
      "\n",
      "num = \n",
      "679\n",
      "SENSOR 6 3.27990661032 -0.58279346945\n",
      "\n",
      "num = \n",
      "680\n",
      "ODOMETRY -1.55641718837e-05 0.100163521473 -0.000133745408038\n",
      "\n",
      "m_ = \n",
      "[-2.80240853e-03  6.35485159e+00  9.88795358e+00]\n",
      "p_ = \n",
      "[[ 0.24866293 -0.02378307  0.01473053]\n",
      " [-0.02378307  0.29924005  0.00669524]\n",
      " [ 0.01473053  0.00669524  0.30608879]]\n",
      "num = \n",
      "681\n",
      "SENSOR 9 1.5098952529 -2.57185137154\n",
      "\n",
      "num = \n",
      "682\n",
      "SENSOR 6 3.39256354505 -0.708652206512\n",
      "\n",
      "num = \n",
      "683\n",
      "ODOMETRY -0.00944281048405 0.0998363016919 -0.0197064530302\n",
      "\n",
      "m_ = \n",
      "[0.03858344 6.3539333  9.92749174]\n",
      "p_ = \n",
      "[[ 0.2476743  -0.02143532  0.01555945]\n",
      " [-0.02143532  0.29715748  0.00610158]\n",
      " [ 0.01555945  0.00610158  0.3094795 ]]\n",
      "num = \n",
      "684\n",
      "SENSOR 9 1.7405212542 -2.61856151363\n",
      "\n",
      "num = \n",
      "685\n",
      "SENSOR 6 3.4449354883 -0.653656313882\n",
      "\n",
      "num = \n",
      "686\n",
      "ODOMETRY -0.00982171572374 0.0999283940399 -0.0201816524328\n",
      "\n",
      "m_ = \n",
      "[0.02980822 6.43592632 9.99290883]\n",
      "p_ = \n",
      "[[ 0.24769891 -0.02180433  0.01521335]\n",
      " [-0.02180433  0.29799067  0.00589185]\n",
      " [ 0.01521335  0.00589185  0.30970993]]\n",
      "num = \n",
      "687\n",
      "SENSOR 9 1.65301995925 -2.56952419519\n",
      "\n",
      "num = \n",
      "688\n",
      "SENSOR 6 3.02584430907 -0.625348664803\n",
      "\n",
      "num = \n",
      "689\n",
      "ODOMETRY -0.011467407889 0.100278553593 -0.0200899025046\n",
      "\n",
      "m_ = \n",
      "[-0.05015607  6.5796075   9.8659903 ]\n",
      "p_ = \n",
      "[[ 0.24746412 -0.0217098   0.01427856]\n",
      " [-0.0217098   0.29972032  0.00510937]\n",
      " [ 0.01427856  0.00510937  0.31049792]]\n",
      "num = \n",
      "690\n",
      "SENSOR 9 1.84416645507 -2.56385985305\n",
      "\n",
      "num = \n",
      "691\n",
      "SENSOR 6 3.02960198478 -0.517486552302\n",
      "\n",
      "num = \n",
      "692\n",
      "ODOMETRY -0.00949998918607 0.100016536484 -0.0192452653175\n",
      "\n",
      "m_ = \n",
      "[-0.13416393  6.70479426  9.83420233]\n",
      "p_ = \n",
      "[[ 0.24650237 -0.01862003  0.01458468]\n",
      " [-0.01862003  0.29590291  0.00520635]\n",
      " [ 0.01458468  0.00520635  0.31358492]]\n",
      "num = \n",
      "693\n",
      "SENSOR 9 1.83946050295 -2.63003003289\n",
      "\n",
      "num = \n",
      "694\n",
      "SENSOR 6 3.00582309666 -0.577468671279\n",
      "\n",
      "num = \n",
      "695\n",
      "ODOMETRY -0.00998770181841 0.100041220527 -0.0210200884984\n",
      "\n",
      "m_ = \n",
      "[-0.10927668  6.75706234  9.81337385]\n",
      "p_ = \n",
      "[[ 0.24589998 -0.01753768  0.01395767]\n",
      " [-0.01753768  0.29484292  0.00501794]\n",
      " [ 0.01395767  0.00501794  0.31582982]]\n",
      "num = \n",
      "696\n",
      "SENSOR 9 2.1231956515 -2.5712329806\n",
      "\n",
      "num = \n",
      "697\n",
      "SENSOR 6 2.72060090136 -0.611342981081\n",
      "\n",
      "num = \n",
      "698\n",
      "ODOMETRY -0.0104435233728 0.100064843828 -0.0209923840156\n",
      "\n",
      "m_ = \n",
      "[-0.16002837  6.99781708  9.8242204 ]\n",
      "p_ = \n",
      "[[ 0.2456486  -0.01680426  0.01360069]\n",
      " [-0.01680426  0.29409419  0.00512754]\n",
      " [ 0.01360069  0.00512754  0.31685423]]\n",
      "num = \n",
      "699\n",
      "SENSOR 9 2.2533253491 -2.51358315181\n",
      "\n",
      "num = \n",
      "700\n",
      "SENSOR 6 2.76502567229 -0.610392844017\n",
      "\n",
      "num = \n",
      "701\n",
      "ODOMETRY -0.0101773588174 0.100165429114 -0.0197769867168\n",
      "\n",
      "m_ = \n",
      "[-0.20757796  7.12408986  9.89408435]\n",
      "p_ = \n",
      "[[ 0.24524731 -0.01649512  0.01168086]\n",
      " [-0.01649512  0.29479844  0.0045663 ]\n",
      " [ 0.01168086  0.0045663   0.31838223]]\n",
      "num = \n",
      "702\n",
      "SENSOR 9 2.27395359652 -2.62138399446\n",
      "\n",
      "num = \n",
      "703\n",
      "SENSOR 6 2.81928646279 -0.499702125893\n",
      "\n",
      "num = \n",
      "704\n",
      "ODOMETRY -0.00963806206216 0.100194140395 -0.0202377586004\n",
      "\n",
      "m_ = \n",
      "[-0.22280856  7.14724129  9.86136865]\n",
      "p_ = \n",
      "[[ 0.24536049 -0.01734478  0.01077666]\n",
      " [-0.01734478  0.29704447  0.0035422 ]\n",
      " [ 0.01077666  0.0035422   0.31788557]]\n",
      "num = \n",
      "705\n",
      "SENSOR 9 2.19331599608 -2.58825731994\n",
      "\n",
      "num = \n",
      "706\n",
      "SENSOR 6 2.6367644419 -0.585514977039\n",
      "\n",
      "num = \n",
      "707\n",
      "ODOMETRY -0.00969850517913 0.100084649032 -0.0200844906424\n",
      "\n",
      "m_ = \n",
      "[-0.21398586  7.1862925   9.80490729]\n",
      "p_ = \n",
      "[[ 0.24527364 -0.01717035  0.01055793]\n",
      " [-0.01717035  0.29659508  0.00365699]\n",
      " [ 0.01055793  0.00365699  0.31823353]]\n",
      "num = \n",
      "708\n",
      "SENSOR 9 2.38239873462 -2.51826314964\n",
      "\n",
      "num = \n",
      "709\n",
      "SENSOR 6 2.55584502849 -0.617585417568\n",
      "\n",
      "num = \n",
      "710\n",
      "ODOMETRY -0.009760488778 0.100025282561 -0.0212037030791\n",
      "\n",
      "m_ = \n",
      "[-0.25137624  7.3170694   9.83539473]\n",
      "p_ = \n",
      "[[ 0.24508207 -0.01648147  0.01015042]\n",
      " [-0.01648147  0.29519684  0.00414296]\n",
      " [ 0.01015042  0.00414296  0.31895933]]\n",
      "num = \n",
      "711\n",
      "SENSOR 9 2.55229313835 -2.55940451124\n",
      "\n",
      "num = \n",
      "712\n",
      "SENSOR 6 2.63729703758 -0.564546146269\n",
      "\n",
      "num = \n",
      "713\n",
      "ODOMETRY -0.00901024455226 0.0999822225335 -0.0203196475783\n",
      "\n",
      "m_ = \n",
      "[-0.27483794  7.40717921  9.88017983]\n",
      "p_ = \n",
      "[[ 0.24519602 -0.01703093  0.00945363]\n",
      " [-0.01703093  0.29631749  0.00341393]\n",
      " [ 0.00945363  0.00341393  0.3184358 ]]\n",
      "num = \n",
      "714\n",
      "SENSOR 9 2.542229302 -2.53541280471\n",
      "\n",
      "num = \n",
      "715\n",
      "SENSOR 6 2.27227869215 -0.573875753025\n",
      "\n",
      "num = \n",
      "716\n",
      "ODOMETRY -0.00961564138041 0.0999414405798 -0.0204022645065\n",
      "\n",
      "m_ = \n",
      "[-0.31845225  7.54750052  9.74954536]\n",
      "p_ = \n",
      "[[ 0.24541169 -0.01766103  0.00917865]\n",
      " [-0.01766103  0.29787316  0.00246669]\n",
      " [ 0.00917865  0.00246669  0.31751775]]\n",
      "num = \n",
      "717\n",
      "SENSOR 9 2.70341312756 -2.48331655508\n",
      "\n",
      "num = \n",
      "718\n",
      "SENSOR 6 2.28488250206 -0.552514217678\n",
      "\n",
      "num = \n",
      "719\n",
      "ODOMETRY -0.00990457116932 0.100026465638 -0.0207767178837\n",
      "\n",
      "m_ = \n",
      "[-0.37767236  7.66484081  9.7461341 ]\n",
      "p_ = \n",
      "[[ 0.24526931 -0.01707279  0.00786678]\n",
      " [-0.01707279  0.29545659  0.00293102]\n",
      " [ 0.00786678  0.00293102  0.31796042]]\n",
      "num = \n",
      "720\n",
      "SENSOR 9 2.56436735907 -2.50931464148\n",
      "\n",
      "num = \n",
      "721\n",
      "SENSOR 6 2.08017880027 -0.487502087503\n",
      "\n",
      "num = \n",
      "722\n",
      "ODOMETRY -0.00998320897741 0.0999813680912 -0.0199150821834\n",
      "\n",
      "m_ = \n",
      "[-0.41098792  7.68352331  9.5933357 ]\n",
      "p_ = \n",
      "[[ 0.2454766  -0.01758163  0.00741908]\n",
      " [-0.01758163  0.2956626   0.0021914 ]\n",
      " [ 0.00741908  0.0021914   0.31722356]]\n",
      "num = \n",
      "723\n",
      "SENSOR 9 2.658209228 -2.52967300837\n",
      "\n",
      "num = \n",
      "724\n",
      "SENSOR 6 2.08742861878 -0.468280843216\n",
      "\n",
      "num = \n",
      "725\n",
      "ODOMETRY -0.0107252267638 0.10021159563 -0.0192940861751\n",
      "\n",
      "m_ = \n",
      "[-0.42494901  7.72587747  9.54224892]\n",
      "p_ = \n",
      "[[ 0.24517659 -0.01659126  0.00595527]\n",
      " [-0.01659126  0.2922349   0.00344044]\n",
      " [ 0.00595527  0.00344044  0.31782143]]\n",
      "num = \n",
      "726\n",
      "SENSOR 9 2.79062572373 -2.51801590567\n",
      "\n",
      "num = \n",
      "727\n",
      "SENSOR 6 1.98134535694 -0.51239911617\n",
      "\n",
      "num = \n",
      "728\n",
      "ODOMETRY -0.00931898482752 0.0998313946401 -0.0195045943639\n",
      "\n",
      "m_ = \n",
      "[-0.43502668  7.83877289  9.5190948 ]\n",
      "p_ = \n",
      "[[ 0.245148   -0.01644293  0.00516483]\n",
      " [-0.01644293  0.29094062  0.00367699]\n",
      " [ 0.00516483  0.00367699  0.31764905]]\n",
      "num = \n",
      "729\n",
      "SENSOR 9 2.97631712843 -2.59124598555\n",
      "\n",
      "num = \n",
      "730\n",
      "SENSOR 6 1.83278194557 -0.45058413267\n",
      "\n",
      "num = \n",
      "731\n",
      "ODOMETRY -0.0102760318389 0.0999106615633 -0.0196442889398\n",
      "\n",
      "m_ = \n",
      "[-0.46155955  7.97494623  9.41407723]\n",
      "p_ = \n",
      "[[ 0.24548594 -0.01718961  0.00466903]\n",
      " [-0.01718961  0.29071787  0.00276177]\n",
      " [ 0.00466903  0.00276177  0.31648845]]\n",
      "num = \n",
      "732\n",
      "SENSOR 9 3.00538927132 -2.47582875838\n",
      "\n",
      "num = \n",
      "733\n",
      "SENSOR 5 4.86844686309 -0.644513040378\n",
      "\n",
      "num = \n",
      "734\n",
      "SENSOR 6 1.75818612283 -0.557237052247\n",
      "\n",
      "num = \n",
      "735\n",
      "ODOMETRY -0.0104218597473 0.100145397313 -0.0200408029886\n",
      "\n",
      "m_ = \n",
      "[-0.50707142  8.09387507  9.41498575]\n",
      "p_ = \n",
      "[[ 0.23341057 -0.01710236 -0.0022198 ]\n",
      " [-0.01710236  0.28482573  0.01320243]\n",
      " [-0.0022198   0.01320243  0.27925424]]\n",
      "num = \n",
      "736\n",
      "SENSOR 9 3.06790211886 -2.40968598481\n",
      "\n",
      "num = \n",
      "737\n",
      "SENSOR 5 4.81572738233 -0.616401204908\n",
      "\n",
      "num = \n",
      "738\n",
      "SENSOR 6 1.68748831042 -0.389912308279\n",
      "\n",
      "num = \n",
      "739\n",
      "ODOMETRY -0.0101350745755 0.100091285908 -0.0206119427088\n",
      "\n",
      "m_ = \n",
      "[-0.59841692  8.14197814  9.3553341 ]\n",
      "p_ = \n",
      "[[ 0.2336145  -0.01771259 -0.00220512]\n",
      " [-0.01771259  0.28455204  0.01207924]\n",
      " [-0.00220512  0.01207924  0.27556385]]\n",
      "num = \n",
      "740\n",
      "SENSOR 9 3.05939885103 -2.42259296594\n",
      "\n",
      "num = \n",
      "741\n",
      "SENSOR 5 4.85625275968 -0.554387962083\n",
      "\n",
      "num = \n",
      "742\n",
      "SENSOR 6 1.69976007626 -0.4523568891\n",
      "\n",
      "num = \n",
      "743\n",
      "ODOMETRY -0.0112125747693 0.100293480859 -0.0200290197221\n",
      "\n",
      "m_ = \n",
      "[-0.6120401   8.16652371  9.36794654]\n",
      "p_ = \n",
      "[[ 0.23384959 -0.01796883 -0.00246077]\n",
      " [-0.01796883  0.28313448  0.01128614]\n",
      " [-0.00246077  0.01128614  0.27470294]]\n",
      "num = \n",
      "744\n",
      "SENSOR 9 3.36060085358 -2.4353356474\n",
      "\n",
      "num = \n",
      "745\n",
      "SENSOR 5 4.60467409396 -0.689671837769\n",
      "\n",
      "num = \n",
      "746\n",
      "SENSOR 6 1.66466459286 -0.434947234979\n",
      "\n",
      "num = \n",
      "747\n",
      "ODOMETRY -0.00936003709598 0.0997788840301 -0.0195655025372\n",
      "\n",
      "m_ = \n",
      "[-0.60830946  8.32706745  9.31098709]\n",
      "p_ = \n",
      "[[ 0.23393109 -0.01819423 -0.00223742]\n",
      " [-0.01819423  0.28334539  0.01085846]\n",
      " [-0.00223742  0.01085846  0.27439115]]\n",
      "num = \n",
      "748\n",
      "SENSOR 9 3.24434042861 -2.50085985671\n",
      "\n",
      "num = \n",
      "749\n",
      "SENSOR 5 4.44097432373 -0.539545027585\n",
      "\n",
      "num = \n",
      "750\n",
      "SENSOR 6 1.44534873942 -0.340798495725\n",
      "\n",
      "num = \n",
      "751\n",
      "ODOMETRY -0.0105609095644 0.100090264715 -0.0197529740061\n",
      "\n",
      "m_ = \n",
      "[-0.65640247  8.33029687  9.12205855]\n",
      "p_ = \n",
      "[[ 0.23463997 -0.01929808 -0.00174105]\n",
      " [-0.01929808  0.2816009   0.00834291]\n",
      " [-0.00174105  0.00834291  0.27276795]]\n",
      "num = \n",
      "752\n",
      "SENSOR 9 3.43181578801 -2.38831289505\n",
      "\n",
      "num = \n",
      "753\n",
      "SENSOR 5 4.47137535155 -0.631269209482\n",
      "\n",
      "num = \n",
      "754\n",
      "SENSOR 6 1.26851574319 -0.398939844547\n",
      "\n",
      "num = \n",
      "755\n",
      "ODOMETRY -0.0107658587575 0.0999709096433 -0.0195658499488\n",
      "\n",
      "m_ = \n",
      "[-0.68532198  8.4690028   9.08762205]\n",
      "p_ = \n",
      "[[ 0.23507974 -0.01900706 -0.00337464]\n",
      " [-0.01900706  0.27588507  0.00712663]\n",
      " [-0.00337464  0.00712663  0.27133959]]\n",
      "num = \n",
      "756\n",
      "SENSOR 9 3.50551920675 -2.39732140232\n",
      "\n",
      "num = \n",
      "757\n",
      "SENSOR 5 4.28281556549 -0.589616154158\n",
      "\n",
      "num = \n",
      "758\n",
      "SENSOR 6 1.28831954512 -0.513359363001\n",
      "\n",
      "num = \n",
      "759\n",
      "ODOMETRY -0.0101758354185 0.10002526256 -0.0193481524309\n",
      "\n",
      "m_ = \n",
      "[-0.69702575  8.59233519  9.05425135]\n",
      "p_ = \n",
      "[[ 0.23585634 -0.01998438 -0.00233788]\n",
      " [-0.01998438  0.2730305   0.00448668]\n",
      " [-0.00233788  0.00448668  0.27013631]]\n",
      "num = \n",
      "760\n",
      "SENSOR 9 3.67081338849 -2.3789885528\n",
      "\n",
      "num = \n",
      "761\n",
      "SENSOR 5 4.40168128717 -0.489968693872\n",
      "\n",
      "num = \n",
      "762\n",
      "SENSOR 6 1.19631205076 -0.512575604526\n",
      "\n",
      "num = \n",
      "763\n",
      "ODOMETRY -0.0110076328184 0.100028655375 -0.0196243037287\n",
      "\n",
      "m_ = \n",
      "[-0.76607245  8.69425327  9.05725181]\n",
      "p_ = \n",
      "[[ 0.23661235 -0.02065324 -0.00106324]\n",
      " [-0.02065324  0.26994428  0.00232347]\n",
      " [-0.00106324  0.00232347  0.26968588]]\n",
      "num = \n",
      "764\n",
      "SENSOR 9 3.62146176736 -2.30271042095\n",
      "\n",
      "num = \n",
      "765\n",
      "SENSOR 5 4.18233806232 -0.556833847024\n",
      "\n",
      "num = \n",
      "766\n",
      "SENSOR 6 1.01671369638 -0.459323796962\n",
      "\n",
      "num = \n",
      "767\n",
      "ODOMETRY -0.00955580720005 0.0998135945322 -0.0197517141062\n",
      "\n",
      "m_ = \n",
      "[-0.80225236  8.73743265  8.93390955]\n",
      "p_ = \n",
      "[[ 0.23709387 -0.02117696  0.00053913]\n",
      " [-0.02117696  0.26861776  0.00125011]\n",
      " [ 0.00053913  0.00125011  0.27010041]]\n",
      "num = \n",
      "768\n",
      "SENSOR 9 3.70417031979 -2.34473876598\n",
      "\n",
      "num = \n",
      "769\n",
      "SENSOR 5 4.17062919093 -0.570876489648\n",
      "\n",
      "num = \n",
      "770\n",
      "SENSOR 6 0.923913647873 -0.520206587019\n",
      "\n",
      "num = \n",
      "771\n",
      "ODOMETRY -0.0091535851559 0.100020863652 -0.0201880877397\n",
      "\n",
      "m_ = \n",
      "[-0.7922966   8.80193629  8.87260647]\n",
      "p_ = \n",
      "[[ 0.23794121 -0.02113436  0.00064053]\n",
      " [-0.02113436  0.26187547 -0.00066115]\n",
      " [ 0.00064053 -0.00066115  0.26936406]]\n",
      "num = \n",
      "772\n",
      "SENSOR 9 3.69578950794 -2.41413549551\n",
      "\n",
      "num = \n",
      "773\n",
      "SENSOR 5 4.00110518645 -0.494969326567\n",
      "\n",
      "num = \n",
      "774\n",
      "SENSOR 6 0.964762619449 -0.53458348217\n",
      "\n",
      "num = \n",
      "775\n",
      "ODOMETRY -0.010295675802 0.100004015507 -0.0189695088639\n",
      "\n",
      "m_ = \n",
      "[-0.79373996  8.82302225  8.80145865]\n",
      "p_ = \n",
      "[[ 0.23859574 -0.02103401  0.00163715]\n",
      " [-0.02103401  0.25701704 -0.00165561]\n",
      " [ 0.00163715 -0.00165561  0.2695666 ]]\n",
      "num = \n",
      "776\n",
      "SENSOR 9 3.69844459713 -2.31420630353\n",
      "\n",
      "num = \n",
      "777\n",
      "SENSOR 5 3.93813832417 -0.404459278547\n",
      "\n",
      "num = \n",
      "778\n",
      "SENSOR 6 0.762339598312 -0.528477333035\n",
      "\n",
      "num = \n",
      "779\n",
      "ODOMETRY -0.00986627304745 0.0999308954255 -0.0194932169016\n",
      "\n",
      "m_ = \n",
      "[-0.87208753  8.87508814  8.70431915]\n",
      "p_ = \n",
      "[[ 0.23913199 -0.02038494  0.00160453]\n",
      " [-0.02038494  0.25180556 -0.00264738]\n",
      " [ 0.00160453 -0.00264738  0.26920871]]\n",
      "num = \n",
      "780\n",
      "SENSOR 9 3.97863915035 -2.33817010298\n",
      "\n",
      "num = \n",
      "781\n",
      "SENSOR 5 3.91815869731 -0.375382277621\n",
      "\n",
      "num = \n",
      "782\n",
      "SENSOR 6 0.764457865234 -0.692422479677\n",
      "\n",
      "num = \n",
      "783\n",
      "ODOMETRY -0.0105039330611 0.100062635978 -0.0196007510172\n",
      "\n",
      "m_ = \n",
      "[-0.90772836  9.02919507  8.67873458]\n",
      "p_ = \n",
      "[[ 0.24001389 -0.01940933  0.00241723]\n",
      " [-0.01940933  0.24385244 -0.00356098]\n",
      " [ 0.00241723 -0.00356098  0.26937263]]\n",
      "num = \n",
      "784\n",
      "SENSOR 9 3.99049095935 -2.43100832721\n",
      "\n",
      "num = \n",
      "785\n",
      "SENSOR 5 3.84981410268 -0.339858112469\n",
      "\n",
      "num = \n",
      "786\n",
      "SENSOR 6 0.670707796904 -0.627865459926\n",
      "\n",
      "num = \n",
      "787\n",
      "ODOMETRY -0.0102670061231 0.100220134545 -0.0197649412615\n",
      "\n",
      "m_ = \n",
      "[-0.9120653   9.02505643  8.5890386 ]\n",
      "p_ = \n",
      "[[ 0.24075431 -0.01891132  0.00642609]\n",
      " [-0.01891132  0.24061987  0.00170285]\n",
      " [ 0.00642609  0.00170285  0.27260767]]\n",
      "num = \n",
      "788\n",
      "SENSOR 9 3.97444895632 -2.34925609157\n",
      "\n",
      "num = \n",
      "789\n",
      "SENSOR 5 3.77657198716 -0.365748954501\n",
      "\n",
      "num = \n",
      "790\n",
      "SENSOR 6 0.724620745167 -0.68784406447\n",
      "\n",
      "num = \n",
      "791\n",
      "ODOMETRY -0.00978517807132 0.0997958111892 -0.0209122965862\n",
      "\n",
      "m_ = \n",
      "[-0.93422394  9.06784556  8.57465422]\n",
      "p_ = \n",
      "[[ 0.2413833  -0.0173621   0.0063308 ]\n",
      " [-0.0173621   0.23331825  0.00209476]\n",
      " [ 0.0063308   0.00209476  0.27287818]]\n",
      "num = \n",
      "792\n",
      "SENSOR 9 4.03143217141 -2.26626563102\n",
      "\n",
      "num = \n",
      "793\n",
      "SENSOR 5 3.46349133261 -0.34264365269\n",
      "\n",
      "num = \n",
      "794\n",
      "SENSOR 6 0.475188697577 -0.867727704814\n",
      "\n",
      "num = \n",
      "795\n",
      "ODOMETRY -0.0108972815108 0.0998936621075 -0.0198820412631\n",
      "\n",
      "m_ = \n",
      "[-0.9976936   9.17234892  8.37661124]\n",
      "p_ = \n",
      "[[ 0.24153292 -0.01671259  0.00729408]\n",
      " [-0.01671259  0.23275039  0.00508618]\n",
      " [ 0.00729408  0.00508618  0.27328078]]\n",
      "num = \n",
      "796\n",
      "SENSOR 9 4.23985887378 -2.26854947811\n",
      "\n",
      "num = \n",
      "797\n",
      "SENSOR 5 3.41389965628 -0.282744929273\n",
      "\n",
      "num = \n",
      "798\n",
      "SENSOR 6 0.627709996436 -0.94148755275\n",
      "\n",
      "num = \n",
      "799\n",
      "ODOMETRY -0.0092026691367 0.0998946022284 -0.0202789115158\n",
      "\n",
      "m_ = \n",
      "[-1.06222982  9.24432355  8.34784805]\n",
      "p_ = \n",
      "[[ 0.24273519 -0.011288    0.00978121]\n",
      " [-0.011288    0.22872652  0.02156365]\n",
      " [ 0.00978121  0.02156365  0.26777823]]\n",
      "num = \n",
      "800\n",
      "SENSOR 9 4.11518464247 -2.31925173137\n",
      "\n",
      "num = \n",
      "801\n",
      "SENSOR 5 3.37747667925 -0.382887053434\n",
      "\n",
      "num = \n",
      "802\n",
      "SENSOR 6 0.347854511055 -1.06521018247\n",
      "\n",
      "num = \n",
      "803\n",
      "ODOMETRY -0.00964561978411 0.0999128007624 -0.0203232411783\n",
      "\n",
      "m_ = \n",
      "[-1.00948415  9.20940052  8.23639569]\n",
      "p_ = \n",
      "[[ 0.24265557 -0.01057007  0.01184019]\n",
      " [-0.01057007  0.23855885  0.02689742]\n",
      " [ 0.01184019  0.02689742  0.26046797]]\n",
      "num = \n",
      "804\n",
      "SENSOR 9 4.2592528018 -2.25631821864\n",
      "\n",
      "num = \n",
      "805\n",
      "SENSOR 5 3.48949092568 -0.316251464921\n",
      "\n",
      "num = \n",
      "806\n",
      "SENSOR 6 0.418415784686 -1.24819855562\n",
      "\n",
      "num = \n",
      "807\n",
      "ODOMETRY -0.0090889765955 0.100078317535 -0.0208387649645\n",
      "\n",
      "m_ = \n",
      "[-1.05635611  9.30468662  8.21951161]\n",
      "p_ = \n",
      "[[ 0.24293513 -0.00717706  0.01003063]\n",
      " [-0.00717706  0.24100494  0.03333178]\n",
      " [ 0.01003063  0.03333178  0.2509144 ]]\n",
      "num = \n",
      "808\n",
      "SENSOR 9 4.38985383683 -2.35866286668\n",
      "\n",
      "num = \n",
      "809\n",
      "SENSOR 5 3.28107289655 -0.276801161352\n",
      "\n",
      "num = \n",
      "810\n",
      "SENSOR 6 0.520377085458 -1.46790593847\n",
      "\n",
      "num = \n",
      "811\n",
      "ODOMETRY -0.00947836960967 0.0999378658775 -0.0205443341273\n",
      "\n",
      "m_ = \n",
      "[-1.06165667  9.38430555  8.15954328]\n",
      "p_ = \n",
      "[[ 0.24265196 -0.00736555  0.0130011 ]\n",
      " [-0.00736555  0.25562863  0.02914099]\n",
      " [ 0.0130011   0.02914099  0.23934431]]\n",
      "num = \n",
      "812\n",
      "SENSOR 9 4.49482605041 -2.26889815025\n",
      "\n",
      "num = \n",
      "813\n",
      "SENSOR 5 3.15258240035 -0.336438423951\n",
      "\n",
      "num = \n",
      "814\n",
      "SENSOR 6 0.430980850097 -1.70329062466\n",
      "\n",
      "num = \n",
      "815\n",
      "ODOMETRY -0.00935420041505 0.100110622918 -0.0200634654475\n",
      "\n",
      "m_ = \n",
      "[-1.09005624  9.44892413  8.06638288]\n",
      "p_ = \n",
      "[[ 0.24235379 -0.00623606  0.01561684]\n",
      " [-0.00623606  0.26556725  0.02015988]\n",
      " [ 0.01561684  0.02015988  0.2302931 ]]\n",
      "num = \n",
      "816\n",
      "SENSOR 9 4.56500399918 -2.3031466037\n",
      "\n",
      "num = \n",
      "817\n",
      "SENSOR 5 2.91571056826 -0.232623268414\n",
      "\n",
      "num = \n",
      "818\n",
      "SENSOR 6 0.330244890906 -1.90953716454\n",
      "\n",
      "num = \n",
      "819\n",
      "ODOMETRY -0.010269880911 0.100061171307 -0.0197644075107\n",
      "\n",
      "m_ = \n",
      "[-1.14588279  9.44442342  7.93545901]\n",
      "p_ = \n",
      "[[ 0.24180045 -0.00388866  0.01789298]\n",
      " [-0.00388866  0.26927926  0.00820261]\n",
      " [ 0.01789298  0.00820261  0.22644272]]\n",
      "num = \n",
      "820\n",
      "SENSOR 9 4.69167462854 -2.22658998309\n",
      "\n",
      "num = \n",
      "821\n",
      "SENSOR 5 3.08433569089 -0.337143319208\n",
      "\n",
      "num = \n",
      "822\n",
      "SENSOR 6 0.554762750925 -2.10973524603\n",
      "\n",
      "num = \n",
      "823\n",
      "ODOMETRY -0.00999199793928 0.0999665305154 -0.0202757591957\n",
      "\n",
      "m_ = \n",
      "[-1.13824867  9.57425081  7.87136213]\n",
      "p_ = \n",
      "[[ 2.41132246e-01 -2.41608828e-04  1.88269917e-02]\n",
      " [-2.41608828e-04  2.65322636e-01 -5.08211702e-03]\n",
      " [ 1.88269917e-02 -5.08211702e-03  2.26031463e-01]]\n",
      "num = \n",
      "824\n",
      "SENSOR 9 4.76284132902 -2.15126005988\n",
      "\n",
      "num = \n",
      "825\n",
      "SENSOR 5 2.95938070311 -0.158178168659\n",
      "\n",
      "num = \n",
      "826\n",
      "SENSOR 6 0.549503125028 -2.27808301514\n",
      "\n",
      "num = \n",
      "827\n",
      "ODOMETRY -0.00986005097223 0.100173854445 -0.0189859725838\n",
      "\n",
      "m_ = \n",
      "[-1.24230874  9.57936305  7.72963611]\n",
      "p_ = \n",
      "[[ 0.2398655   0.00138806  0.02106818]\n",
      " [ 0.00138806  0.26422126 -0.00531816]\n",
      " [ 0.02106818 -0.00531816  0.23814626]]\n",
      "num = \n",
      "828\n",
      "SENSOR 9 4.62199069994 -2.18236767895\n",
      "\n",
      "num = \n",
      "829\n",
      "SENSOR 5 2.88364841405 -0.211583718625\n",
      "\n",
      "num = \n",
      "830\n",
      "SENSOR 6 0.608371630443 -2.36582694156\n",
      "\n",
      "num = \n",
      "831\n",
      "ODOMETRY -0.0101721448458 0.0998079193853 -0.0198301989047\n",
      "\n",
      "m_ = \n",
      "[-1.23514596  9.55657783  7.67949816]\n",
      "p_ = \n",
      "[[ 0.23865128  0.00498765  0.02112579]\n",
      " [ 0.00498765  0.25863729 -0.00819092]\n",
      " [ 0.02112579 -0.00819092  0.24596387]]\n",
      "num = \n",
      "832\n",
      "SENSOR 9 4.6158486866 -2.14373953498\n",
      "\n",
      "num = \n",
      "833\n",
      "SENSOR 5 2.58243352082 -0.200858606282\n",
      "\n",
      "num = \n",
      "834\n",
      "SENSOR 6 0.747480535627 -2.41041090005\n",
      "\n",
      "num = \n",
      "835\n",
      "ODOMETRY -0.0103893957533 0.0999764229641 -0.0201432882674\n",
      "\n",
      "m_ = \n",
      "[-1.28552366  9.60232167  7.55706043]\n",
      "p_ = \n",
      "[[ 0.23825231  0.0064582   0.02049458]\n",
      " [ 0.0064582   0.25588207 -0.00900194]\n",
      " [ 0.02049458 -0.00900194  0.2480001 ]]\n",
      "num = \n",
      "836\n",
      "SENSOR 9 4.86345125952 -2.16850372828\n",
      "\n",
      "num = \n",
      "837\n",
      "SENSOR 5 2.53715647378 -0.0219189488566\n",
      "\n",
      "num = \n",
      "838\n",
      "SENSOR 6 0.638025009019 -2.44082398988\n",
      "\n",
      "num = \n",
      "839\n",
      "ODOMETRY -0.0110796247981 0.100123354178 -0.0203009558875\n",
      "\n",
      "m_ = \n",
      "[-1.36441057  9.60099578  7.45846433]\n",
      "p_ = \n",
      "[[ 0.23681651  0.00837306  0.0197755 ]\n",
      " [ 0.00837306  0.25524599 -0.00577767]\n",
      " [ 0.0197755  -0.00577767  0.25572608]]\n",
      "num = \n",
      "840\n",
      "SENSOR 9 4.80447773758 -2.11401632864\n",
      "\n",
      "num = \n",
      "841\n",
      "SENSOR 5 2.52598129404 -0.147975261228\n",
      "\n",
      "num = \n",
      "842\n",
      "SENSOR 6 0.774158398614 -2.52392662998\n",
      "\n",
      "num = \n",
      "843\n",
      "ODOMETRY -0.0105396114623 0.100008052618 -0.0201317969487\n",
      "\n",
      "m_ = \n",
      "[-1.34425884  9.62683079  7.4021271 ]\n",
      "p_ = \n",
      "[[ 0.23581026  0.0097352   0.01885668]\n",
      " [ 0.0097352   0.25463365 -0.00327425]\n",
      " [ 0.01885668 -0.00327425  0.26027909]]\n",
      "num = \n",
      "844\n",
      "SENSOR 9 4.92716774584 -2.183105981\n",
      "\n",
      "num = \n",
      "845\n",
      "SENSOR 5 2.5239692479 -0.10125627604\n",
      "\n",
      "num = \n",
      "846\n",
      "SENSOR 6 0.898459257994 -2.5942905006\n",
      "\n",
      "num = \n",
      "847\n",
      "ODOMETRY -0.0101753448007 0.100002913472 -0.0206574320107\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "m_ = \n",
      "[-1.33526429  9.66006648  7.32091918]\n",
      "p_ = \n",
      "[[ 0.23520985  0.00998425  0.01851122]\n",
      " [ 0.00998425  0.25572979 -0.00114933]\n",
      " [ 0.01851122 -0.00114933  0.26299046]]\n",
      "num = \n",
      "848\n",
      "SENSOR 9 5.01194140521 -2.08598842578\n",
      "\n",
      "num = \n",
      "849\n",
      "SENSOR 5 2.42112473613 -0.0714350873771\n",
      "\n",
      "num = \n",
      "850\n",
      "SENSOR 6 0.878381860102 -2.66964579914\n",
      "\n",
      "num = \n",
      "851\n",
      "ODOMETRY -0.0103462997287 0.0999423849927 -0.0195755267881\n",
      "\n",
      "m_ = \n",
      "[-1.37326903  9.65030777  7.23066651]\n",
      "p_ = \n",
      "[[0.23442479 0.01012723 0.01770268]\n",
      " [0.01012723 0.2574541  0.00156604]\n",
      " [0.01770268 0.00156604 0.26590776]]\n",
      "num = \n",
      "852\n",
      "SENSOR 5 2.23964032564 -0.0586867747141\n",
      "\n",
      "num = \n",
      "853\n",
      "SENSOR 6 1.24988717446 -2.58043089475\n",
      "\n",
      "num = \n",
      "854\n",
      "ODOMETRY -0.0107865547639 0.10003293752 -0.0196069887085\n",
      "\n",
      "m_ = \n",
      "[-1.42124705  9.76572614  7.07264451]\n",
      "p_ = \n",
      "[[ 0.24654541  0.01368013  0.01745235]\n",
      " [ 0.01368013  0.27796857 -0.00388084]\n",
      " [ 0.01745235 -0.00388084  0.27121487]]\n",
      "num = \n",
      "855\n",
      "SENSOR 5 1.94979000746 -0.0453900849002\n",
      "\n",
      "num = \n",
      "856\n",
      "SENSOR 6 1.290168152 -2.6828250479\n",
      "\n",
      "num = \n",
      "857\n",
      "ODOMETRY -0.0108544957486 0.100230199128 -0.0189367396772\n",
      "\n",
      "m_ = \n",
      "[-1.43325045  9.77874953  6.88009635]\n",
      "p_ = \n",
      "[[ 0.24519577  0.01050959  0.01612204]\n",
      " [ 0.01050959  0.28546616 -0.00029132]\n",
      " [ 0.01612204 -0.00029132  0.27516597]]\n",
      "num = \n",
      "858\n",
      "SENSOR 5 2.22911731184 -0.00122688508787\n",
      "\n",
      "num = \n",
      "859\n",
      "SENSOR 6 1.21205806069 -2.64632589698\n",
      "\n",
      "num = \n",
      "860\n",
      "ODOMETRY -0.00993341143727 0.0999418232338 -0.0202662925326\n",
      "\n",
      "m_ = \n",
      "[-1.45598477  9.74383133  6.95656636]\n",
      "p_ = \n",
      "[[0.24353828 0.00785624 0.01267137]\n",
      " [0.00785624 0.28776365 0.00271606]\n",
      " [0.01267137 0.00271606 0.2764694 ]]\n",
      "num = \n",
      "861\n",
      "SENSOR 4 4.99272912579 -0.274166164371\n",
      "\n",
      "num = \n",
      "862\n",
      "SENSOR 5 1.81092330137 0.0761110639692\n",
      "\n",
      "num = \n",
      "863\n",
      "SENSOR 6 1.36882473059 -2.60089763233\n",
      "\n",
      "num = \n",
      "864\n",
      "ODOMETRY -0.0104826202942 0.0999751788151 -0.0191967893743\n",
      "\n",
      "m_ = \n",
      "[-1.52037773  9.78064658  6.78723765]\n",
      "p_ = \n",
      "[[ 0.23023918  0.00121993  0.00727847]\n",
      " [ 0.00121993  0.28153873 -0.00337423]\n",
      " [ 0.00727847 -0.00337423  0.25496498]]\n",
      "num = \n",
      "865\n",
      "SENSOR 4 4.69854535708 -0.223485928377\n",
      "\n",
      "num = \n",
      "866\n",
      "SENSOR 5 1.7001461128 0.0429298228702\n",
      "\n",
      "num = \n",
      "867\n",
      "SENSOR 6 1.30623051674 -2.58399330818\n",
      "\n",
      "num = \n",
      "868\n",
      "ODOMETRY 0.000324810885789 0.0998821776257 -0.000359989641411\n",
      "\n",
      "m_ = \n",
      "[-1.52204279  9.78378131  6.65915267]\n",
      "p_ = \n",
      "[[ 0.22992445 -0.00143697  0.00589996]\n",
      " [-0.00143697  0.2829782  -0.00229782]\n",
      " [ 0.00589996 -0.00229782  0.25462278]]\n",
      "num = \n",
      "869\n",
      "SENSOR 4 5.09005860279 -0.233743736727\n",
      "\n",
      "num = \n",
      "870\n",
      "SENSOR 5 1.58907104446 0.12166808225\n",
      "\n",
      "num = \n",
      "871\n",
      "SENSOR 6 1.50018263441 -2.63967144455\n",
      "\n",
      "num = \n",
      "872\n",
      "ODOMETRY -0.000418164888098 0.0999656435967 -3.68260681419e-05\n",
      "\n",
      "m_ = \n",
      "[-1.52871976  9.79932985  6.64682359]\n",
      "p_ = \n",
      "[[ 0.22996958 -0.00324527  0.0049286 ]\n",
      " [-0.00324527  0.2832433  -0.00151995]\n",
      " [ 0.0049286  -0.00151995  0.25469203]]\n",
      "num = \n",
      "873\n",
      "SENSOR 4 4.74946984204 -0.126245943621\n",
      "\n",
      "num = \n",
      "874\n",
      "SENSOR 5 1.55519072464 0.0805634344737\n",
      "\n",
      "num = \n",
      "875\n",
      "SENSOR 6 1.63437464886 -2.74620564163\n",
      "\n",
      "num = \n",
      "876\n",
      "ODOMETRY 0.000475115856201 0.100024313407 0.000393598981251\n",
      "\n",
      "m_ = \n",
      "[-1.52655322  9.76579932  6.49911204]\n",
      "p_ = \n",
      "[[ 0.2300417  -0.00366621  0.00498669]\n",
      " [-0.00366621  0.28338246 -0.00150183]\n",
      " [ 0.00498669 -0.00150183  0.25480049]]\n",
      "num = \n",
      "877\n",
      "SENSOR 4 4.50322759327 -0.208257404441\n",
      "\n",
      "num = \n",
      "878\n",
      "SENSOR 5 1.40431609203 0.102953443634\n",
      "\n",
      "num = \n",
      "879\n",
      "SENSOR 6 1.92474673868 -2.70532942045\n",
      "\n",
      "num = \n",
      "880\n",
      "SENSOR 7 4.8035115893 -1.34951568347\n",
      "\n",
      "num = \n",
      "881\n",
      "ODOMETRY -8.36142030851e-05 0.0998721448335 -0.000260661559938\n",
      "\n",
      "m_ = \n",
      "[-1.52969619  9.76680639  6.28206267]\n",
      "p_ = \n",
      "[[ 0.22359233 -0.00372555  0.0054766 ]\n",
      " [-0.00372555  0.26007602 -0.00513696]\n",
      " [ 0.0054766  -0.00513696  0.25341034]]\n",
      "num = \n",
      "882\n",
      "SENSOR 4 4.36260790638 -0.247754318384\n",
      "\n",
      "num = \n",
      "883\n",
      "SENSOR 5 1.47019886492 0.0682113654816\n",
      "\n",
      "num = \n",
      "884\n",
      "SENSOR 6 1.77940808395 -2.71217766237\n",
      "\n",
      "num = \n",
      "885\n",
      "SENSOR 7 5.2180857839 -1.31953374687\n",
      "\n",
      "num = \n",
      "886\n",
      "ODOMETRY 0.000197959165217 0.100131767346 0.000281610671693\n",
      "\n",
      "m_ = \n",
      "[-1.52951061  9.86499735  6.27781974]\n",
      "p_ = \n",
      "[[ 0.2237597  -0.00518115  0.00465187]\n",
      " [-0.00518115  0.25620371 -0.00488946]\n",
      " [ 0.00465187 -0.00488946  0.25327203]]\n",
      "num = \n",
      "887\n",
      "SENSOR 4 4.44601043546 -0.326392394425\n",
      "\n",
      "num = \n",
      "888\n",
      "SENSOR 5 1.19003310152 0.115920050334\n",
      "\n",
      "num = \n",
      "889\n",
      "SENSOR 6 2.05288544044 -2.83359564739\n",
      "\n",
      "num = \n",
      "890\n",
      "SENSOR 7 4.97368047041 -1.40535275082\n",
      "\n",
      "num = \n",
      "891\n",
      "ODOMETRY -0.000164122759813 0.0999543664159 -0.000303793093368\n",
      "\n",
      "m_ = \n",
      "[-1.48355078  9.83062314  6.13014147]\n",
      "p_ = \n",
      "[[ 0.22406443 -0.00570665  0.00576962]\n",
      " [-0.00570665  0.25561582 -0.00496218]\n",
      " [ 0.00576962 -0.00496218  0.25421236]]\n",
      "num = \n",
      "892\n",
      "SENSOR 4 4.42845729357 -0.199738979168\n",
      "\n",
      "num = \n",
      "893\n",
      "SENSOR 5 1.17917386982 0.18688342145\n",
      "\n",
      "num = \n",
      "894\n",
      "SENSOR 6 1.9596965856 -2.82416076788\n",
      "\n",
      "num = \n",
      "895\n",
      "SENSOR 7 4.92694129534 -1.35478197562\n",
      "\n",
      "num = \n",
      "896\n",
      "ODOMETRY 0.000333398378648 0.0999246910299 -0.000238132530679\n",
      "\n",
      "m_ = \n",
      "[-1.52798749  9.76786026  6.11102599]\n",
      "p_ = \n",
      "[[ 0.22425932 -0.00655684  0.00485094]\n",
      " [-0.00655684  0.25244951 -0.00496187]\n",
      " [ 0.00485094 -0.00496187  0.25376043]]\n",
      "num = \n",
      "897\n",
      "SENSOR 4 4.10993462238 -0.218612334131\n",
      "\n",
      "num = \n",
      "898\n",
      "SENSOR 5 1.02261696425 0.152968841424\n",
      "\n",
      "num = \n",
      "899\n",
      "SENSOR 6 2.17175440342 -2.77569049944\n",
      "\n",
      "num = \n",
      "900\n",
      "SENSOR 7 4.9569182734 -1.483064888\n",
      "\n",
      "num = \n",
      "901\n",
      "ODOMETRY 0.000655493141672 0.100066766391 0.000616803666521\n",
      "\n",
      "m_ = \n",
      "[-1.52146971  9.81837308  5.92573024]\n",
      "p_ = \n",
      "[[ 0.224103   -0.00639577  0.00403154]\n",
      " [-0.00639577  0.25233585 -0.00511993]\n",
      " [ 0.00403154 -0.00511993  0.2530942 ]]\n",
      "num = \n",
      "902\n",
      "SENSOR 4 3.89656801687 -0.154099643488\n",
      "\n",
      "num = \n",
      "903\n",
      "SENSOR 5 0.905689372217 0.172402059922\n",
      "\n",
      "num = \n",
      "904\n",
      "SENSOR 6 2.13167650164 -2.75783273628\n",
      "\n",
      "num = \n",
      "905\n",
      "SENSOR 7 4.8549234685 -1.39334612816\n",
      "\n",
      "num = \n",
      "906\n",
      "ODOMETRY -0.000159452291233 0.100045036471 0.000808106642051\n",
      "\n",
      "m_ = \n",
      "[-1.56832649  9.80269129  5.81301766]\n",
      "p_ = \n",
      "[[ 0.22478048 -0.00771563  0.00386858]\n",
      " [-0.00771563  0.24621025 -0.00568259]\n",
      " [ 0.00386858 -0.00568259  0.25320307]]\n",
      "num = \n",
      "907\n",
      "SENSOR 4 3.94173958574 -0.302887305467\n",
      "\n",
      "num = \n",
      "908\n",
      "SENSOR 5 1.14270798286 0.168760719018\n",
      "\n",
      "num = \n",
      "909\n",
      "SENSOR 6 2.18631073434 -2.81520889899\n",
      "\n",
      "num = \n",
      "910\n",
      "SENSOR 7 5.10636542466 -1.4209085397\n",
      "\n",
      "num = \n",
      "911\n",
      "ODOMETRY 0.00078211331779 0.10000393139 0.000293823867121\n",
      "\n",
      "m_ = \n",
      "[-1.52524205  9.83420917  5.84822951]\n",
      "p_ = \n",
      "[[ 0.22512405 -0.00815308  0.00331155]\n",
      " [-0.00815308  0.24207618 -0.0067991 ]\n",
      " [ 0.00331155 -0.0067991   0.25265794]]\n",
      "num = \n",
      "912\n",
      "SENSOR 4 3.90151568357 -0.230804046777\n",
      "\n",
      "num = \n",
      "913\n",
      "SENSOR 5 0.712985585874 0.132988889564\n",
      "\n",
      "num = \n",
      "914\n",
      "SENSOR 6 2.15622970424 -2.85121206477\n",
      "\n",
      "num = \n",
      "915\n",
      "SENSOR 7 4.91179352895 -1.43675629418\n",
      "\n",
      "num = \n",
      "916\n",
      "ODOMETRY -0.000245429391129 0.0999070378738 4.52120481994e-05\n",
      "\n",
      "m_ = \n",
      "[-1.5205802   9.83038645  5.73945161]\n",
      "p_ = \n",
      "[[ 0.2251251  -0.00810912  0.00395043]\n",
      " [-0.00810912  0.24273432 -0.00611408]\n",
      " [ 0.00395043 -0.00611408  0.25323716]]\n",
      "num = \n",
      "917\n",
      "SENSOR 4 3.64288246527 -0.35019983237\n",
      "\n",
      "num = \n",
      "918\n",
      "SENSOR 5 0.799736995544 0.23802034997\n",
      "\n",
      "num = \n",
      "919\n",
      "SENSOR 6 2.48255730306 -2.88618660948\n",
      "\n",
      "num = \n",
      "920\n",
      "SENSOR 7 4.91606982523 -1.51036160945\n",
      "\n",
      "num = \n",
      "921\n",
      "ODOMETRY -0.000170601987707 0.0999805604304 -7.40939785008e-05\n",
      "\n",
      "m_ = \n",
      "[-1.49028145  9.80757308  5.57387374]\n",
      "p_ = \n",
      "[[ 0.22554374 -0.00845703  0.00357833]\n",
      " [-0.00845703  0.23825247 -0.00724339]\n",
      " [ 0.00357833 -0.00724339  0.25281338]]\n",
      "num = \n",
      "922\n",
      "SENSOR 4 3.60050259878 -0.29206119154\n",
      "\n",
      "num = \n",
      "923\n",
      "SENSOR 5 0.456888182182 0.189816312354\n",
      "\n",
      "num = \n",
      "924\n",
      "SENSOR 6 2.6445990428 -2.85742387613\n",
      "\n",
      "num = \n",
      "925\n",
      "SENSOR 7 4.75304634682 -1.42550073299\n",
      "\n",
      "num = \n",
      "926\n",
      "ODOMETRY -0.00152630081795 0.0999133992614 -0.000430283518585\n",
      "\n",
      "m_ = \n",
      "[-1.53133609  9.86049141  5.41607312]\n",
      "p_ = \n",
      "[[ 0.2261695  -0.00843001  0.00227382]\n",
      " [-0.00843001  0.2316799  -0.01066305]\n",
      " [ 0.00227382 -0.01066305  0.25088124]]\n",
      "num = \n",
      "927\n",
      "SENSOR 4 3.606832886 -0.248641284229\n",
      "\n",
      "num = \n",
      "928\n",
      "SENSOR 5 0.495940573578 0.31820180197\n",
      "\n",
      "num = \n",
      "929\n",
      "SENSOR 6 2.62200407047 -2.87985859301\n",
      "\n",
      "num = \n",
      "930\n",
      "SENSOR 7 4.75456323488 -1.62447424499\n",
      "\n",
      "num = \n",
      "931\n",
      "ODOMETRY -0.000217759654145 0.100001221848 -2.15306964727e-05\n",
      "\n",
      "m_ = \n",
      "[-1.49943864  9.81417333  5.37287014]\n",
      "p_ = \n",
      "[[ 0.22728351 -0.00769056  0.00281289]\n",
      " [-0.00769056  0.22209204 -0.01314435]\n",
      " [ 0.00281289 -0.01314435  0.25036425]]\n",
      "num = \n",
      "932\n",
      "SENSOR 4 3.59697409395 -0.279183028245\n",
      "\n",
      "num = \n",
      "933\n",
      "SENSOR 5 0.480705021357 0.34438043649\n",
      "\n",
      "num = \n",
      "934\n",
      "SENSOR 6 2.63552269525 -2.87953212119\n",
      "\n",
      "num = \n",
      "935\n",
      "SENSOR 7 4.92559449029 -1.53430624815\n",
      "\n",
      "num = \n",
      "936\n",
      "ODOMETRY -0.000482506428273 0.0999122174435 -0.000580035297792\n",
      "\n",
      "m_ = \n",
      "[-1.52433406  9.82322502  5.34720043]\n",
      "p_ = \n",
      "[[ 0.22713126 -0.00731544  0.00114016]\n",
      " [-0.00731544  0.22490438 -0.01709191]\n",
      " [ 0.00114016 -0.01709191  0.24637023]]\n",
      "num = \n",
      "937\n",
      "SENSOR 4 3.47586551117 -0.349238295616\n",
      "\n",
      "num = \n",
      "938\n",
      "SENSOR 5 0.220999951716 0.388622010704\n",
      "\n",
      "num = \n",
      "939\n",
      "SENSOR 6 2.82004661589 -2.92802181092\n",
      "\n",
      "num = \n",
      "940\n",
      "SENSOR 7 4.82070833488 -1.58213543982\n",
      "\n",
      "num = \n",
      "941\n",
      "ODOMETRY -0.000139550189593 0.100064120469 -2.76254777159e-05\n",
      "\n",
      "m_ = \n",
      "[-1.48968081  9.85659171  5.20076244]\n",
      "p_ = \n",
      "[[ 0.22731066 -0.00708438  0.00128455]\n",
      " [-0.00708438  0.22386955 -0.01793527]\n",
      " [ 0.00128455 -0.01793527  0.24586789]]\n",
      "num = \n",
      "942\n",
      "SENSOR 4 3.36308480601 -0.338986772029\n",
      "\n",
      "num = \n",
      "943\n",
      "SENSOR 5 0.444200909715 0.716185023584\n",
      "\n",
      "num = \n",
      "944\n",
      "SENSOR 6 2.87114105271 -2.87495975842\n",
      "\n",
      "num = \n",
      "945\n",
      "SENSOR 7 5.00458709072 -1.58257275001\n",
      "\n",
      "num = \n",
      "946\n",
      "ODOMETRY 0.000625023111235 0.100033704567 0.000788974348719\n",
      "\n",
      "m_ = \n",
      "[-1.51886196  9.80784654  5.12791888]\n",
      "p_ = \n",
      "[[ 0.22809892 -0.00512042  0.0007908 ]\n",
      " [-0.00512042  0.22384882 -0.02402594]\n",
      " [ 0.0007908  -0.02402594  0.23865947]]\n",
      "num = \n",
      "947\n",
      "SENSOR 4 3.13679295783 -0.355723706289\n",
      "\n",
      "num = \n",
      "948\n",
      "SENSOR 5 0.132273645824 1.00432805138\n",
      "\n",
      "num = \n",
      "949\n",
      "SENSOR 6 3.04078654628 -2.86651045039\n",
      "\n",
      "num = \n",
      "950\n",
      "SENSOR 7 4.91504091129 -1.62691182927\n",
      "\n",
      "num = \n",
      "951\n",
      "ODOMETRY -0.000430603052429 0.100031372434 -0.000194224656002\n",
      "\n",
      "m_ = \n",
      "[-1.51869103  9.88039464  4.96348186]\n",
      "p_ = \n",
      "[[ 0.22768297 -0.00318979 -0.00252515]\n",
      " [-0.00318979  0.24226362 -0.02409357]\n",
      " [-0.00252515 -0.02409357  0.22128582]]\n",
      "num = \n",
      "952\n",
      "SENSOR 4 2.89257924978 -0.261154689677\n",
      "\n",
      "num = \n",
      "953\n",
      "SENSOR 5 0.0869154821736 1.57743143981\n",
      "\n",
      "num = \n",
      "954\n",
      "SENSOR 6 2.90779553154 -2.87205172826\n",
      "\n",
      "num = \n",
      "955\n",
      "SENSOR 7 4.87504647749 -1.67682352072\n",
      "\n",
      "num = \n",
      "956\n",
      "ODOMETRY -0.000394366473818 0.0999652691747 0.000203739446394\n",
      "\n",
      "m_ = \n",
      "[-1.53758004  9.84458518  4.8851679 ]\n",
      "p_ = \n",
      "[[ 0.2282415   0.00554194 -0.00252803]\n",
      " [ 0.00554194  0.25413339  0.01513908]\n",
      " [-0.00252803  0.01513908  0.20650227]]\n",
      "num = \n",
      "957\n",
      "SENSOR 4 2.95060694926 -0.40938842696\n",
      "\n",
      "num = \n",
      "958\n",
      "SENSOR 5 0.187834365445 2.26857479846\n",
      "\n",
      "num = \n",
      "959\n",
      "SENSOR 6 3.31126955451 -2.92453711135\n",
      "\n",
      "num = \n",
      "960\n",
      "SENSOR 7 5.00762306838 -1.62193179913\n",
      "\n",
      "num = \n",
      "961\n",
      "ODOMETRY 0.000188872633703 0.0998900920204 -0.000404695062714\n",
      "\n",
      "m_ = \n",
      "[-1.5044799   9.89336643  4.78204476]\n",
      "p_ = \n",
      "[[ 0.22806802  0.00884471 -0.0014009 ]\n",
      " [ 0.00884471  0.24161647  0.02534368]\n",
      " [-0.0014009   0.02534368  0.22246412]]\n",
      "num = \n",
      "962\n",
      "SENSOR 4 2.71804063576 -0.263896340835\n",
      "\n",
      "num = \n",
      "963\n",
      "SENSOR 5 0.117592609818 2.55977634237\n",
      "\n",
      "num = \n",
      "964\n",
      "SENSOR 6 3.49353272518 -2.94938522616\n",
      "\n",
      "num = \n",
      "965\n",
      "SENSOR 7 4.88923424474 -1.71729987801\n",
      "\n",
      "num = \n",
      "966\n",
      "ODOMETRY 0.000463123137535 0.100026190262 -0.000467923097136\n",
      "\n",
      "m_ = \n",
      "[-1.52620429  9.85289323  4.63008436]\n",
      "p_ = \n",
      "[[0.22845283 0.01090685 0.0025467 ]\n",
      " [0.01090685 0.21943754 0.02056845]\n",
      " [0.0025467  0.02056845 0.2449335 ]]\n",
      "num = \n",
      "967\n",
      "SENSOR 4 2.79334888537 -0.399856478188\n",
      "\n",
      "num = \n",
      "968\n",
      "SENSOR 5 0.493078840954 2.63845120424\n",
      "\n",
      "num = \n",
      "969\n",
      "SENSOR 6 3.4746419933 -2.96022159027\n",
      "\n",
      "num = \n",
      "970\n",
      "SENSOR 7 4.852250925 -1.62247582516\n",
      "\n",
      "num = \n",
      "971\n",
      "ODOMETRY 0.000204722786588 0.100025452409 -0.000621143247794\n",
      "\n",
      "m_ = \n",
      "[-1.52488655  9.82768699  4.52664138]\n",
      "p_ = \n",
      "[[0.22749208 0.01281461 0.0023313 ]\n",
      " [0.01281461 0.22530866 0.01588965]\n",
      " [0.0023313  0.01588965 0.24871211]]\n",
      "num = \n",
      "972\n",
      "SENSOR 4 2.73084876629 -0.369067978649\n",
      "\n",
      "num = \n",
      "973\n",
      "SENSOR 5 0.42617115042 2.86523242658\n",
      "\n",
      "num = \n",
      "974\n",
      "SENSOR 6 3.81253344685 -2.96532036628\n",
      "\n",
      "num = \n",
      "975\n",
      "SENSOR 7 4.96857297672 -1.68391105412\n",
      "\n",
      "num = \n",
      "976\n",
      "ODOMETRY -0.000217736658741 0.0999861864311 -0.000591307921892\n",
      "\n",
      "m_ = \n",
      "[-1.52760351  9.89537291  4.40319963]\n",
      "p_ = \n",
      "[[0.22682251 0.01348872 0.00223499]\n",
      " [0.01348872 0.23079617 0.01333679]\n",
      " [0.00223499 0.01333679 0.24995256]]\n",
      "num = \n",
      "977\n",
      "SENSOR 4 2.6677545575 -0.3747009033\n",
      "\n",
      "num = \n",
      "978\n",
      "SENSOR 5 0.7159982817 2.86732646754\n",
      "\n",
      "num = \n",
      "979\n",
      "SENSOR 6 3.60775134837 -3.03170946031\n",
      "\n",
      "num = \n",
      "980\n",
      "SENSOR 7 4.85926199224 -1.74229396012\n",
      "\n",
      "num = \n",
      "981\n",
      "ODOMETRY -0.000184559437448 0.100062080709 -0.000284379235048\n",
      "\n",
      "m_ = \n",
      "[-1.50962861  9.86893606  4.32730887]\n",
      "p_ = \n",
      "[[0.22661102 0.01392316 0.00436528]\n",
      " [0.01392316 0.23374979 0.00829831]\n",
      " [0.00436528 0.00829831 0.25341398]]\n",
      "num = \n",
      "982\n",
      "SENSOR 4 2.47524626759 -0.497455287779\n",
      "\n",
      "num = \n",
      "983\n",
      "SENSOR 5 0.515976055959 2.86747266043\n",
      "\n",
      "num = \n",
      "984\n",
      "SENSOR 6 3.71140327246 -2.89739069321\n",
      "\n",
      "num = \n",
      "985\n",
      "SENSOR 7 4.86833979771 -1.86747905373\n",
      "\n",
      "num = \n",
      "986\n",
      "ODOMETRY -0.000423831010905 0.100055729458 0.000522719071377\n",
      "\n",
      "m_ = \n",
      "[-1.47334338  9.89988422  4.28153902]\n",
      "p_ = \n",
      "[[0.2260946  0.01388529 0.00415049]\n",
      " [0.01388529 0.23846708 0.00808824]\n",
      " [0.00415049 0.00808824 0.25330289]]\n",
      "num = \n",
      "987\n",
      "SENSOR 4 2.40614223049 -0.363441019406\n",
      "\n",
      "num = \n",
      "988\n",
      "SENSOR 5 0.586364241415 2.87684153835\n",
      "\n",
      "num = \n",
      "989\n",
      "SENSOR 6 3.90284744099 -2.93101327542\n",
      "\n",
      "num = \n",
      "990\n",
      "SENSOR 7 4.77611939003 -1.8279190371\n",
      "\n",
      "num = \n",
      "991\n",
      "ODOMETRY -0.000503367053185 0.100103555799 0.000819633507756\n",
      "\n",
      "m_ = \n",
      "[-1.52252706  9.83918055  4.1910406 ]\n",
      "p_ = \n",
      "[[0.22602996 0.01389817 0.00474252]\n",
      " [0.01389817 0.24015915 0.00692018]\n",
      " [0.00474252 0.00692018 0.25398407]]\n",
      "num = \n",
      "992\n",
      "SENSOR 4 2.40160042935 -0.389154949411\n",
      "\n",
      "num = \n",
      "993\n",
      "SENSOR 5 0.853827928964 3.00466868631\n",
      "\n",
      "num = \n",
      "994\n",
      "SENSOR 6 3.82496452269 -2.95364332599\n",
      "\n",
      "num = \n",
      "995\n",
      "SENSOR 7 5.02564796909 -1.78367151428\n",
      "\n",
      "num = \n",
      "996\n",
      "ODOMETRY -0.00080944386785 0.100013043879 1.97022648298e-05\n",
      "\n",
      "m_ = \n",
      "[-1.54166425  9.90428267  4.10708041]\n",
      "p_ = \n",
      "[[0.2253589  0.01344855 0.00389512]\n",
      " [0.01344855 0.24540208 0.00715502]\n",
      " [0.00389512 0.00715502 0.25324422]]\n",
      "num = \n",
      "997\n",
      "SENSOR 4 2.14265941231 -0.576114496391\n",
      "\n",
      "num = \n",
      "998\n",
      "SENSOR 5 1.06875104344 3.01158775394\n",
      "\n",
      "num = \n",
      "999\n",
      "SENSOR 6 4.04413273461 -2.9178294235\n",
      "\n",
      "num = \n",
      "1000\n",
      "SENSOR 7 5.0221824592 -1.79251846775\n",
      "\n",
      "num = \n",
      "1001\n",
      "ODOMETRY -0.000993208621031 0.0998844685408 -0.000121644357505\n",
      "\n",
      "m_ = \n",
      "[-1.51623572  9.93617685  3.90452579]\n",
      "p_ = \n",
      "[[0.22529867 0.01327939 0.00521964]\n",
      " [0.01327939 0.24801003 0.00610356]\n",
      " [0.00521964 0.00610356 0.25431563]]\n",
      "num = \n",
      "1002\n",
      "SENSOR 4 2.27760317493 -0.454019833416\n",
      "\n",
      "num = \n",
      "1003\n",
      "SENSOR 5 0.989955134561 3.00334167163\n",
      "\n",
      "num = \n",
      "1004\n",
      "SENSOR 6 4.0746975399 -2.97885744051\n",
      "\n",
      "num = \n",
      "1005\n",
      "ODOMETRY -0.000250538104947 0.100118558009 0.000470538017319\n",
      "\n",
      "m_ = \n",
      "[-1.52002264  9.9240516   3.91270815]\n",
      "p_ = \n",
      "[[0.23256292 0.01851137 0.00416334]\n",
      " [0.01851137 0.27346612 0.00287498]\n",
      " [0.00416334 0.00287498 0.25552314]]\n",
      "num = \n",
      "1006\n",
      "SENSOR 8 5.08620163194 -1.49046025052\n",
      "\n",
      "num = \n",
      "1007\n",
      "SENSOR 4 2.30195764953 -0.428336448448\n",
      "\n",
      "num = \n",
      "1008\n",
      "SENSOR 5 1.20549687351 2.9880742534\n",
      "\n",
      "num = \n",
      "1009\n",
      "SENSOR 6 4.35196037607 -2.99771407728\n",
      "\n",
      "num = \n",
      "1010\n",
      "ODOMETRY -0.000419971039834 0.0999850157042 -0.000136873067745\n",
      "\n",
      "m_ = \n",
      "[-1.5107492   9.94669055  3.79089498]\n",
      "p_ = \n",
      "[[0.2243485  0.010802   0.00499095]\n",
      " [0.010802   0.25374508 0.00041752]\n",
      " [0.00499095 0.00041752 0.25444799]]\n",
      "num = \n",
      "1011\n",
      "SENSOR 8 4.9606373049 -1.48374082501\n",
      "\n",
      "num = \n",
      "1012\n",
      "SENSOR 4 2.02122842241 -0.612520417005\n",
      "\n",
      "num = \n",
      "1013\n",
      "SENSOR 5 1.18548266277 2.91183826645\n",
      "\n",
      "num = \n",
      "1014\n",
      "SENSOR 6 4.40601584512 -3.00750175779\n",
      "\n",
      "num = \n",
      "1015\n",
      "ODOMETRY 0.000258908008153 0.0999880869982 -0.000878618195419\n",
      "\n",
      "m_ = \n",
      "[-1.46580912  9.92297007  3.67568366]\n",
      "p_ = \n",
      "[[0.22403037 0.00964198 0.00577128]\n",
      " [0.00964198 0.25547498 0.00027677]\n",
      " [0.00577128 0.00027677 0.25501745]]\n",
      "num = \n",
      "1016\n",
      "SENSOR 8 5.07928480298 -1.47517883113\n",
      "\n",
      "num = \n",
      "1017\n",
      "SENSOR 4 1.95540196161 -0.524791774647\n",
      "\n",
      "num = \n",
      "1018\n",
      "SENSOR 5 1.50601099601 3.02951420464\n",
      "\n",
      "num = \n",
      "1019\n",
      "SENSOR 6 4.2697515621 -2.91223271519\n",
      "\n",
      "num = \n",
      "1020\n",
      "ODOMETRY 8.35160305286e-05 0.0998921936279 -0.000916685935868\n",
      "\n",
      "m_ = \n",
      "[-1.53635515  9.94476692  3.5837346 ]\n",
      "p_ = \n",
      "[[0.22380035 0.0086917  0.00579622]\n",
      " [0.0086917  0.25733757 0.00031732]\n",
      " [0.00579622 0.00031732 0.25496891]]\n",
      "num = \n",
      "1021\n",
      "SENSOR 8 5.12480337929 -1.5292251446\n",
      "\n",
      "num = \n",
      "1022\n",
      "SENSOR 4 1.8502364216 -0.640053414064\n",
      "\n",
      "num = \n",
      "1023\n",
      "SENSOR 5 1.22548414583 3.00267777115\n",
      "\n",
      "num = \n",
      "1024\n",
      "SENSOR 6 4.59119051094 -3.00286235802\n",
      "\n",
      "num = \n",
      "1025\n",
      "ODOMETRY 0.000276055660063 0.0999750533485 0.000328587305689\n",
      "\n",
      "m_ = \n",
      "[-1.47888878 10.00243052  3.52148516]\n",
      "p_ = \n",
      "[[0.22377711 0.00810406 0.00651118]\n",
      " [0.00810406 0.25844099 0.00067234]\n",
      " [0.00651118 0.00067234 0.2554368 ]]\n",
      "num = \n",
      "1026\n",
      "SENSOR 8 4.85707120873 -1.55643745133\n",
      "\n",
      "num = \n",
      "1027\n",
      "SENSOR 4 1.6853612932 -0.640165672521\n",
      "\n",
      "num = \n",
      "1028\n",
      "SENSOR 5 1.40741969379 3.08301703619\n",
      "\n",
      "num = \n",
      "1029\n",
      "SENSOR 6 4.43722471141 -2.92421694343\n",
      "\n",
      "num = \n",
      "1030\n",
      "ODOMETRY -0.000612253935663 0.100030803164 0.000384082346755\n",
      "\n",
      "m_ = \n",
      "[-1.51900706  9.93230664  3.44298031]\n",
      "p_ = \n",
      "[[0.22390611 0.00794803 0.00721429]\n",
      " [0.00794803 0.25915858 0.00113016]\n",
      " [0.00721429 0.00113016 0.25612839]]\n",
      "num = \n",
      "1031\n",
      "SENSOR 8 4.8148264003 -1.5861711641\n",
      "\n",
      "num = \n",
      "1032\n",
      "SENSOR 4 1.62945141541 -0.645906242858\n",
      "\n",
      "num = \n",
      "1033\n",
      "SENSOR 5 1.57411900279 3.00136290051\n",
      "\n",
      "num = \n",
      "1034\n",
      "SENSOR 6 4.74165161304 -2.88381335457\n",
      "\n",
      "num = \n",
      "1035\n",
      "ODOMETRY -0.000615965348572 0.0999645830188 0.000122066793836\n",
      "\n",
      "m_ = \n",
      "[-1.52796496  9.89058239  3.28430444]\n",
      "p_ = \n",
      "[[0.22370548 0.00712625 0.00693873]\n",
      " [0.00712625 0.25945479 0.00123404]\n",
      " [0.00693873 0.00123404 0.25553747]]\n",
      "num = \n",
      "1036\n",
      "SENSOR 8 5.09246076865 -1.62935789257\n",
      "\n",
      "num = \n",
      "1037\n",
      "SENSOR 4 1.50283498391 -0.764000413422\n",
      "\n",
      "num = \n",
      "1038\n",
      "SENSOR 5 1.65903158666 3.20124071317\n",
      "\n",
      "num = \n",
      "1039\n",
      "SENSOR 6 4.68619938405 -3.0067714176\n",
      "\n",
      "num = \n",
      "1040\n",
      "ODOMETRY 0.00010181891152 0.100046833019 0.000440816980011\n",
      "\n",
      "m_ = \n",
      "[-1.51160279 10.03067669  3.19128298]\n",
      "p_ = \n",
      "[[0.22364825 0.00595547 0.00743694]\n",
      " [0.00595547 0.25959981 0.00204336]\n",
      " [0.00743694 0.00204336 0.25527497]]\n",
      "num = \n",
      "1041\n",
      "SENSOR 8 5.10307136294 -1.5981894044\n",
      "\n",
      "num = \n",
      "1042\n",
      "SENSOR 4 1.3396692961 -0.647480763035\n",
      "\n",
      "num = \n",
      "1043\n",
      "SENSOR 5 1.89463338292 3.13168562413\n",
      "\n",
      "num = \n",
      "1044\n",
      "SENSOR 6 4.79308799565 -3.00728766374\n",
      "\n",
      "num = \n",
      "1045\n",
      "ODOMETRY -0.000291816369108 0.100048609814 -0.00104644833934\n",
      "\n",
      "m_ = \n",
      "[-1.55087207  9.96679768  3.06593081]\n",
      "p_ = \n",
      "[[0.22407869 0.0064785  0.00886375]\n",
      " [0.0064785  0.26071188 0.00347519]\n",
      " [0.00886375 0.00347519 0.25674395]]\n",
      "num = \n",
      "1046\n",
      "SENSOR 8 5.05308894221 -1.61739005656\n",
      "\n",
      "num = \n",
      "1047\n",
      "SENSOR 4 1.55728242344 -0.778699498829\n",
      "\n",
      "num = \n",
      "1048\n",
      "SENSOR 5 1.76096780816 3.0522097073\n",
      "\n",
      "num = \n",
      "1049\n",
      "ODOMETRY 8.52183257962e-05 0.0998196908854 0.000109532441973\n",
      "\n",
      "m_ = \n",
      "[-1.4969143  10.01538815  3.07098145]\n",
      "p_ = \n",
      "[[0.23197559 0.00325855 0.01539346]\n",
      " [0.00325855 0.26124758 0.00097827]\n",
      " [0.01539346 0.00097827 0.27769528]]\n",
      "num = \n",
      "1050\n",
      "SENSOR 8 4.93860295592 -1.59049668067\n",
      "\n",
      "num = \n",
      "1051\n",
      "SENSOR 4 1.44172934018 -0.934292188086\n",
      "\n",
      "num = \n",
      "1052\n",
      "SENSOR 5 1.92234124612 3.05518288622\n",
      "\n",
      "num = \n",
      "1053\n",
      "ODOMETRY 7.22338246953e-05 0.0999023454001 -3.77129042551e-05\n",
      "\n",
      "m_ = \n",
      "[-1.47826866 10.01849923  2.94546928]\n",
      "p_ = \n",
      "[[0.23242132 0.00356478 0.01656727]\n",
      " [0.00356478 0.2617585  0.00075507]\n",
      " [0.01656727 0.00075507 0.28084755]]\n",
      "num = \n",
      "1054\n",
      "SENSOR 8 5.1479288931 -1.65822977182\n",
      "\n",
      "num = \n",
      "1055\n",
      "SENSOR 4 1.25455156912 -0.879623084747\n",
      "\n",
      "num = \n",
      "1056\n",
      "SENSOR 5 2.37861473612 3.10537197028\n",
      "\n",
      "num = \n",
      "1057\n",
      "ODOMETRY 0.000670127696266 0.100006079133 0.000625609916127\n",
      "\n",
      "m_ = \n",
      "[-1.54271267 10.03292951  2.6776761 ]\n",
      "p_ = \n",
      "[[0.23305486 0.00359307 0.01786796]\n",
      " [0.00359307 0.26185337 0.00268185]\n",
      " [0.01786796 0.00268185 0.28074758]]\n",
      "num = \n",
      "1058\n",
      "SENSOR 8 5.09480518246 -1.65212699893\n",
      "\n",
      "num = \n",
      "1059\n",
      "SENSOR 4 1.40390131939 -0.879816536972\n",
      "\n",
      "num = \n",
      "1060\n",
      "SENSOR 5 2.20542921923 3.11477051951\n",
      "\n",
      "num = \n",
      "1061\n",
      "ODOMETRY 0.000570783669274 0.0999546481828 0.000310239449538\n",
      "\n",
      "m_ = \n",
      "[-1.54688687 10.06170678  2.7085057 ]\n",
      "p_ = \n",
      "[[0.23470862 0.00498369 0.02109903]\n",
      " [0.00498369 0.26304058 0.00750786]\n",
      " [0.02109903 0.00750786 0.27947739]]\n",
      "num = \n",
      "1062\n",
      "SENSOR 4 1.06631403361 -1.08193342846\n",
      "\n",
      "num = \n",
      "1063\n",
      "SENSOR 5 2.47203994196 3.13761545266\n",
      "\n",
      "num = \n",
      "1064\n",
      "ODOMETRY 3.85114033074e-05 0.100176546577 0.000173947982474\n",
      "\n",
      "m_ = \n",
      "[ 1.7922591  12.3554881   1.41053297]\n",
      "p_ = \n",
      "[[ 0.24781926 -0.00282974  0.02215478]\n",
      " [-0.00282974  0.2908528   0.0031353 ]\n",
      " [ 0.02215478  0.0031353   0.27997448]]\n",
      "num = \n",
      "1065\n",
      "SENSOR 4 1.20265396615 -1.09036457216\n",
      "\n",
      "num = \n",
      "1066\n",
      "SENSOR 5 2.34144827576 3.04411849412\n",
      "\n",
      "num = \n",
      "1067\n",
      "ODOMETRY 0.000776427377761 0.099952687123 -0.000941767872499\n",
      "\n",
      "m_ = \n",
      "[ 1.56339361 11.20221576  1.83788852]\n",
      "p_ = \n",
      "[[0.2501374  0.01630094 0.03457307]\n",
      " [0.01630094 0.31336505 0.04784766]\n",
      " [0.03457307 0.04784766 0.35757907]]\n",
      "num = \n",
      "1068\n",
      "SENSOR 4 1.16717333388 -1.12821635833\n",
      "\n",
      "num = \n",
      "1069\n",
      "SENSOR 5 2.46018754147 3.12942300941\n",
      "\n",
      "num = \n",
      "1070\n",
      "ODOMETRY -0.000182525437042 0.0999468132926 -0.000158790994297\n",
      "\n",
      "m_ = \n",
      "[ 1.31718011 10.99847464  1.27553941]\n",
      "p_ = \n",
      "[[0.25521868 0.02170661 0.04189985]\n",
      " [0.02170661 0.31705049 0.03957097]\n",
      " [0.04189985 0.03957097 0.34270358]]\n",
      "num = \n",
      "1071\n",
      "SENSOR 4 1.0123884597 -1.2839270903\n",
      "\n",
      "num = \n",
      "1072\n",
      "SENSOR 5 2.62303723473 2.94037324821\n",
      "\n",
      "num = \n",
      "1073\n",
      "ODOMETRY -0.000682345311597 0.099958072456 0.00043862067399\n",
      "\n",
      "m_ = \n",
      "[ 1.20057312 10.26028653  0.8646445 ]\n",
      "p_ = \n",
      "[[0.25794087 0.03344221 0.04227224]\n",
      " [0.03344221 0.33940048 0.05154836]\n",
      " [0.04227224 0.05154836 0.33443266]]\n",
      "num = \n",
      "1074\n",
      "SENSOR 4 1.00020435353 -1.2311017102\n",
      "\n",
      "num = \n",
      "1075\n",
      "SENSOR 5 2.83365938044 3.10650495611\n",
      "\n",
      "num = \n",
      "1076\n",
      "ODOMETRY -9.19632135689e-07 0.10002313352 -0.000224880476229\n",
      "\n",
      "m_ = \n",
      "[0.61670385 8.98099239 0.40740951]\n",
      "p_ = \n",
      "[[0.26592855 0.05778395 0.03955998]\n",
      " [0.05778395 0.37908894 0.05000899]\n",
      " [0.03955998 0.05000899 0.3071709 ]]\n",
      "num = \n",
      "1077\n",
      "SENSOR 4 0.849352538956 -1.46997822321\n",
      "\n",
      "num = \n",
      "1078\n",
      "SENSOR 5 2.85184515953 3.11408226771\n",
      "\n",
      "num = \n",
      "1079\n",
      "ODOMETRY -0.000798214396223 0.0999079224924 0.000213586041509\n",
      "\n",
      "m_ = \n",
      "[-0.16630102  6.94969935  1.3940224 ]\n",
      "p_ = \n",
      "[[ 0.27600984  0.09331527  0.00266306]\n",
      " [ 0.09331527  0.45057658 -0.00286565]\n",
      " [ 0.00266306 -0.00286565  0.27636992]]\n",
      "num = \n",
      "1080\n",
      "SENSOR 4 1.10312028502 -1.48363601494\n",
      "\n",
      "num = \n",
      "1081\n",
      "SENSOR 5 3.00416166275 3.10884116279\n",
      "\n",
      "num = \n",
      "1082\n",
      "ODOMETRY -0.000984233781833 0.0999672948533 7.64590930276e-05\n",
      "\n",
      "m_ = \n",
      "[-0.5162849   7.58881271  2.9025522 ]\n",
      "p_ = \n",
      "[[ 0.26096444  0.04379237 -0.04703644]\n",
      " [ 0.04379237  0.34917325 -0.07298153]\n",
      " [-0.04703644 -0.07298153  0.35881804]]\n",
      "num = \n",
      "1083\n",
      "SENSOR 4 1.04848307593 -1.64994919996\n",
      "\n",
      "num = \n",
      "1084\n",
      "SENSOR 5 3.02744738541 3.06646084819\n",
      "\n",
      "num = \n",
      "1085\n",
      "ODOMETRY -0.000260628905805 0.0999789088987 0.00116057007669\n",
      "\n",
      "m_ = \n",
      "[-0.7189677   8.75949594  3.05171922]\n",
      "p_ = \n",
      "[[ 0.25691639  0.00802045 -0.0427342 ]\n",
      " [ 0.00802045  0.29628897 -0.02478164]\n",
      " [-0.0427342  -0.02478164  0.33940203]]\n",
      "num = \n",
      "1086\n",
      "SENSOR 4 1.01403868185 -1.8074118964\n",
      "\n",
      "num = \n",
      "1087\n",
      "SENSOR 5 3.08384570669 3.04030179903\n",
      "\n",
      "num = \n",
      "1088\n",
      "ODOMETRY -0.000220095556118 0.0999551962105 -0.000481994451249\n",
      "\n",
      "m_ = \n",
      "[-0.91836603  9.89567774  2.49645847]\n",
      "p_ = \n",
      "[[ 0.24832368 -0.01106669 -0.01331158]\n",
      " [-0.01106669  0.27343835 -0.01099108]\n",
      " [-0.01331158 -0.01099108  0.28772659]]\n",
      "num = \n",
      "1089\n",
      "SENSOR 4 0.949362251022 -1.93475998957\n",
      "\n",
      "num = \n",
      "1090\n",
      "SENSOR 5 3.02874489038 3.02677668221\n",
      "\n",
      "num = \n",
      "1091\n",
      "ODOMETRY 0.00031060131166 0.100181543701 -0.20019265501\n",
      "\n",
      "m_ = \n",
      "[-1.41363897 10.15308746  2.0013647 ]\n",
      "p_ = \n",
      "[[0.24976142 0.00409167 0.02569998]\n",
      " [0.00409167 0.28980384 0.01073212]\n",
      " [0.02569998 0.01073212 0.27308722]]\n",
      "num = \n",
      "1092\n",
      "SENSOR 4 1.03535256961 -1.66182916184\n",
      "\n",
      "num = \n",
      "1093\n",
      "SENSOR 5 3.32942750619 -2.89908305281\n",
      "\n",
      "num = \n",
      "1094\n",
      "ODOMETRY -6.00078729292e-05 0.100231170262 -0.197349468283\n",
      "\n",
      "m_ = \n",
      "[1.24827327 9.10564832 3.57707459]\n",
      "p_ = \n",
      "[[0.25719673 0.01552198 0.03368026]\n",
      " [0.01552198 0.30872069 0.0112857 ]\n",
      " [0.03368026 0.0112857  0.28155352]]\n",
      "num = \n",
      "1095\n",
      "SENSOR 4 1.23205472755 -1.61328765107\n",
      "\n",
      "num = \n",
      "1096\n",
      "SENSOR 5 3.58883871764 -2.79036998463\n",
      "\n",
      "num = \n",
      "1097\n",
      "ODOMETRY 0.000778944546602 0.0997443640523 -0.196805293229\n",
      "\n",
      "m_ = \n",
      "[1.70358759 6.68888572 3.57942403]\n",
      "p_ = \n",
      "[[ 0.24258917 -0.00777619 -0.00854962]\n",
      " [-0.00777619  0.29083003 -0.00261035]\n",
      " [-0.00854962 -0.00261035  0.27770254]]\n",
      "num = \n",
      "1098\n",
      "SENSOR 4 0.980807526601 -1.37607808602\n",
      "\n",
      "num = \n",
      "1099\n",
      "SENSOR 5 3.44799435666 -2.62665666687\n",
      "\n",
      "num = \n",
      "1100\n",
      "ODOMETRY -0.000368902911915 0.100159655151 -0.19959086214\n",
      "\n",
      "m_ = \n",
      "[1.84047638 7.02428539 2.86778502]\n",
      "p_ = \n",
      "[[ 0.25053545 -0.00956072 -0.04035097]\n",
      " [-0.00956072  0.28805263  0.00954801]\n",
      " [-0.04035097  0.00954801  0.36568745]]\n",
      "num = \n",
      "1101\n",
      "SENSOR 4 1.30954404554 -1.43176636885\n",
      "\n",
      "num = \n",
      "1102\n",
      "SENSOR 5 3.51128233361 -2.49583044536\n",
      "\n",
      "num = \n",
      "1103\n",
      "ODOMETRY 0.000875408598912 0.10049913959 -0.198612822628\n",
      "\n",
      "m_ = \n",
      "[1.99977299 7.07854341 2.35683398]\n",
      "p_ = \n",
      "[[ 0.2563111  -0.00254569 -0.05486154]\n",
      " [-0.00254569  0.28729749 -0.00770701]\n",
      " [-0.05486154 -0.00770701  0.38649767]]\n",
      "num = \n",
      "1104\n",
      "SENSOR 4 0.953865121238 -1.2816545328\n",
      "\n",
      "num = \n",
      "1105\n",
      "SENSOR 5 3.75050538274 -2.21025810438\n",
      "\n",
      "num = \n",
      "1106\n",
      "ODOMETRY 0.000643301288042 0.0998677942291 -0.202643646401\n",
      "\n",
      "m_ = \n",
      "[2.04913167 7.42063808 1.72552812]\n",
      "p_ = \n",
      "[[ 0.26073718  0.0086289  -0.06388322]\n",
      " [ 0.0086289   0.2918915  -0.02972907]\n",
      " [-0.06388322 -0.02972907  0.39732628]]\n",
      "num = \n",
      "1107\n",
      "SENSOR 4 0.937678468196 -1.17091065111\n",
      "\n",
      "num = \n",
      "1108\n",
      "SENSOR 5 3.86489395394 -1.98135942803\n",
      "\n",
      "num = \n",
      "1109\n",
      "ODOMETRY -0.000515670443917 0.100048418713 -0.201085070412\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "m_ = \n",
      "[2.15005802 7.88080379 1.26845185]\n",
      "p_ = \n",
      "[[ 0.26948788  0.0309699  -0.07253349]\n",
      " [ 0.0309699   0.31368667 -0.05851856]\n",
      " [-0.07253349 -0.05851856  0.38391881]]\n",
      "num = \n",
      "1110\n",
      "SENSOR 4 1.03088856231 -1.02236401255\n",
      "\n",
      "num = \n",
      "1111\n",
      "SENSOR 5 3.61390947737 -1.83253751296\n",
      "\n",
      "num = \n",
      "1112\n",
      "ODOMETRY -0.00070658966091 0.0999211581655 -0.201215641668\n",
      "\n",
      "m_ = \n",
      "[2.26321839 8.41364401 1.11338831]\n",
      "p_ = \n",
      "[[ 0.28131934  0.05981261 -0.07191624]\n",
      " [ 0.05981261  0.34662608 -0.0706242 ]\n",
      " [-0.07191624 -0.0706242   0.34906355]]\n",
      "num = \n",
      "1113\n",
      "SENSOR 8 4.85461136115 -0.441193806736\n",
      "\n",
      "num = \n",
      "1114\n",
      "SENSOR 4 1.05741780526 -0.941454125061\n",
      "\n",
      "num = \n",
      "1115\n",
      "SENSOR 5 3.87262435523 -1.67878747955\n",
      "\n",
      "num = \n",
      "1116\n",
      "ODOMETRY -0.000453651906009 0.100058053226 -0.0495339656427\n",
      "\n",
      "m_ = \n",
      "[2.84238021 9.06845648 0.77926497]\n",
      "p_ = \n",
      "[[ 0.24110424  0.02855777 -0.01316105]\n",
      " [ 0.02855777  0.28318086 -0.00276197]\n",
      " [-0.01316105 -0.00276197  0.27012088]]\n",
      "num = \n",
      "1117\n",
      "SENSOR 8 4.91108468826 -0.314178952957\n",
      "\n",
      "num = \n",
      "1118\n",
      "SENSOR 4 0.889803683381 -0.862587924879\n",
      "\n",
      "num = \n",
      "1119\n",
      "SENSOR 5 4.001907275 -1.75368141539\n",
      "\n",
      "num = \n",
      "1120\n",
      "ODOMETRY -0.000374433876798 0.0999632649737 0.000227424570168\n",
      "\n",
      "m_ = \n",
      "[2.98905439 9.34112407 1.0078489 ]\n",
      "p_ = \n",
      "[[0.24096924 0.0322809  0.00233803]\n",
      " [0.0322809  0.29249918 0.00566937]\n",
      " [0.00233803 0.00566937 0.26694625]]\n",
      "num = \n",
      "1121\n",
      "SENSOR 8 4.89607963687 -0.383905377422\n",
      "\n",
      "num = \n",
      "1122\n",
      "SENSOR 4 1.03529311279 -1.08642084347\n",
      "\n",
      "num = \n",
      "1123\n",
      "SENSOR 5 3.6950450598 -1.62958875652\n",
      "\n",
      "num = \n",
      "1124\n",
      "ODOMETRY 0.000560387911335 0.100022258169 -0.000690144025918\n",
      "\n",
      "m_ = \n",
      "[3.09138533 9.35232431 1.13200886]\n",
      "p_ = \n",
      "[[0.24292545 0.03185132 0.0083556 ]\n",
      " [0.03185132 0.28226315 0.00557774]\n",
      " [0.0083556  0.00557774 0.26701344]]\n",
      "num = \n",
      "1125\n",
      "SENSOR 8 4.77811944922 -0.344660362116\n",
      "\n",
      "num = \n",
      "1126\n",
      "SENSOR 4 0.6835522748 -1.12873248686\n",
      "\n",
      "num = \n",
      "1127\n",
      "SENSOR 5 3.73078201728 -1.73731680832\n",
      "\n",
      "num = \n",
      "1128\n",
      "ODOMETRY 0.000302602191039 0.0999189321218 -0.000444970990895\n",
      "\n",
      "m_ = \n",
      "[3.12857229 9.26018256 1.27993868]\n",
      "p_ = \n",
      "[[0.24365559 0.03034294 0.00899692]\n",
      " [0.03034294 0.27357699 0.00215143]\n",
      " [0.00899692 0.00215143 0.26590785]]\n",
      "num = \n",
      "1129\n",
      "SENSOR 8 4.69613208187 -0.387130423206\n",
      "\n",
      "num = \n",
      "1130\n",
      "SENSOR 4 0.787992521116 -1.29156833847\n",
      "\n",
      "num = \n",
      "1131\n",
      "SENSOR 5 3.83067456717 -1.73774870776\n",
      "\n",
      "num = \n",
      "1132\n",
      "ODOMETRY 0.00033245853007 0.099983722446 3.29125408185e-05\n",
      "\n",
      "m_ = \n",
      "[3.1411591  9.15457113 1.23103637]\n",
      "p_ = \n",
      "[[ 0.24439541  0.02770005  0.00700412]\n",
      " [ 0.02770005  0.2589428  -0.00362961]\n",
      " [ 0.00700412 -0.00362961  0.26474314]]\n",
      "num = \n",
      "1133\n",
      "SENSOR 8 4.43987229987 -0.336598652401\n",
      "\n",
      "num = \n",
      "1134\n",
      "SENSOR 4 0.824851032983 -1.37173579521\n",
      "\n",
      "num = \n",
      "1135\n",
      "SENSOR 5 3.9011475333 -1.83111676621\n",
      "\n",
      "num = \n",
      "1136\n",
      "ODOMETRY 0.0003202499917 0.0998020171825 -0.000105496843961\n",
      "\n",
      "m_ = \n",
      "[3.11834195 9.02450903 1.22483238]\n",
      "p_ = \n",
      "[[ 0.24386224  0.02810861  0.00460007]\n",
      " [ 0.02810861  0.25840425 -0.00114392]\n",
      " [ 0.00460007 -0.00114392  0.26671492]]\n",
      "num = \n",
      "1137\n",
      "SENSOR 8 4.2295439355 -0.31030833621\n",
      "\n",
      "num = \n",
      "1138\n",
      "SENSOR 4 0.562121580647 -1.48855015673\n",
      "\n",
      "num = \n",
      "1139\n",
      "SENSOR 5 4.05047851622 -1.85523162918\n",
      "\n",
      "num = \n",
      "1140\n",
      "ODOMETRY -0.00100295830048 0.100070287738 -0.000357513844835\n",
      "\n",
      "m_ = \n",
      "[3.0787285  8.87281962 1.28587578]\n",
      "p_ = \n",
      "[[0.24352282 0.02809191 0.00172946]\n",
      " [0.02809191 0.25699803 0.0016748 ]\n",
      " [0.00172946 0.0016748  0.26793061]]\n",
      "num = \n",
      "1141\n",
      "SENSOR 8 4.14141953883 -0.401434359312\n",
      "\n",
      "num = \n",
      "1142\n",
      "SENSOR 4 0.698270524653 -1.66266898697\n",
      "\n",
      "num = \n",
      "1143\n",
      "SENSOR 5 4.02646711957 -1.85655804032\n",
      "\n",
      "num = \n",
      "1144\n",
      "ODOMETRY -0.000188063237756 0.0999460648438 -0.000367434508236\n",
      "\n",
      "m_ = \n",
      "[3.09784539 8.76360117 1.25496212]\n",
      "p_ = \n",
      "[[ 0.24316055  0.02713284 -0.00190642]\n",
      " [ 0.02713284  0.25372905  0.00580048]\n",
      " [-0.00190642  0.00580048  0.26772109]]\n",
      "num = \n",
      "1145\n",
      "SENSOR 8 4.49059154755 -0.359642792629\n",
      "\n",
      "num = \n",
      "1146\n",
      "SENSOR 4 0.829352455695 -1.82738715515\n",
      "\n",
      "num = \n",
      "1147\n",
      "SENSOR 5 3.9198043194 -1.85847185083\n",
      "\n",
      "num = \n",
      "1148\n",
      "ODOMETRY 0.000145108773369 0.0999890308492 -0.0008287350519\n",
      "\n",
      "m_ = \n",
      "[3.1308262  8.74527808 1.22029953]\n",
      "p_ = \n",
      "[[ 0.24223307  0.02749688 -0.00440406]\n",
      " [ 0.02749688  0.26007859  0.00721467]\n",
      " [-0.00440406  0.00721467  0.26651509]]\n",
      "num = \n",
      "1149\n",
      "SENSOR 8 4.0305518916 -0.410490083997\n",
      "\n",
      "num = \n",
      "1150\n",
      "SENSOR 4 0.73104561841 -1.91623346334\n",
      "\n",
      "num = \n",
      "1151\n",
      "SENSOR 5 3.95455389546 -1.81930736734\n",
      "\n",
      "num = \n",
      "1152\n",
      "ODOMETRY 0.000317286436698 0.0999382739112 -0.000139268224043\n",
      "\n",
      "m_ = \n",
      "[3.09442788 8.60167291 1.28241052]\n",
      "p_ = \n",
      "[[ 0.24197434  0.02785582 -0.00469169]\n",
      " [ 0.02785582  0.2633169   0.00670106]\n",
      " [-0.00469169  0.00670106  0.26649167]]\n",
      "num = \n",
      "1153\n",
      "SENSOR 8 3.94074309758 -0.449033720052\n",
      "\n",
      "num = \n",
      "1154\n",
      "SENSOR 4 0.964327453377 -2.01100457015\n",
      "\n",
      "num = \n",
      "1155\n",
      "SENSOR 5 4.12377150794 -1.90702070002\n",
      "\n",
      "num = \n",
      "1156\n",
      "ODOMETRY -0.000489035127382 0.10010816554 -0.000185002568801\n",
      "\n",
      "m_ = \n",
      "[3.10261262 8.45233674 1.18575495]\n",
      "p_ = \n",
      "[[ 0.24113098  0.02648724 -0.00818524]\n",
      " [ 0.02648724  0.26578226  0.00776923]\n",
      " [-0.00818524  0.00776923  0.2640372 ]]\n",
      "num = \n",
      "1157\n",
      "SENSOR 8 3.91534330666 -0.437399649948\n",
      "\n",
      "num = \n",
      "1158\n",
      "SENSOR 4 0.962844439912 -2.09903655675\n",
      "\n",
      "num = \n",
      "1159\n",
      "SENSOR 5 4.0517244807 -1.90944618344\n",
      "\n",
      "num = \n",
      "1160\n",
      "ODOMETRY -0.000448212051337 0.100133168601 -0.0012892610486\n",
      "\n",
      "m_ = \n",
      "[3.09631162 8.3789812  1.20871876]\n",
      "p_ = \n",
      "[[ 0.23956223  0.0262366  -0.0101091 ]\n",
      " [ 0.0262366   0.27524081  0.00339225]\n",
      " [-0.0101091   0.00339225  0.26514844]]\n",
      "num = \n",
      "1161\n",
      "SENSOR 8 3.8900635959 -0.450094707651\n",
      "\n",
      "num = \n",
      "1162\n",
      "SENSOR 4 1.15499811144 -2.14063500493\n",
      "\n",
      "num = \n",
      "1163\n",
      "SENSOR 5 4.15361685125 -1.97034676565\n",
      "\n",
      "num = \n",
      "1164\n",
      "ODOMETRY -0.000333404857971 0.0999912335863 0.000192681272112\n",
      "\n",
      "m_ = \n",
      "[3.10602546 8.27816898 1.13881601]\n",
      "p_ = \n",
      "[[ 0.239066    0.0255019  -0.01149613]\n",
      " [ 0.0255019   0.27688051  0.00202888]\n",
      " [-0.01149613  0.00202888  0.26517365]]\n",
      "num = \n",
      "1165\n",
      "SENSOR 8 3.77038644114 -0.564054467112\n",
      "\n",
      "num = \n",
      "1166\n",
      "SENSOR 4 0.97476218836 -2.24080497152\n",
      "\n",
      "num = \n",
      "1167\n",
      "SENSOR 5 4.17413980453 -1.93610976395\n",
      "\n",
      "num = \n",
      "1168\n",
      "ODOMETRY 0.000116797154257 0.100137172993 -0.000390404927584\n",
      "\n",
      "m_ = \n",
      "[3.13993621 8.23529961 1.17577207]\n",
      "p_ = \n",
      "[[ 0.23818452  0.02523717 -0.01206332]\n",
      " [ 0.02523717  0.28146239 -0.00118985]\n",
      " [-0.01206332 -0.00118985  0.26702606]]\n",
      "num = \n",
      "1169\n",
      "SENSOR 8 3.63226086454 -0.540987639383\n",
      "\n",
      "num = \n",
      "1170\n",
      "SENSOR 4 1.10417906905 -2.38354517123\n",
      "\n",
      "num = \n",
      "1171\n",
      "SENSOR 5 4.30329593999 -2.0340943866\n",
      "\n",
      "num = \n",
      "1172\n",
      "SENSOR 7 4.94033277705 -0.757833609985\n",
      "\n",
      "num = \n",
      "1173\n",
      "ODOMETRY -0.000590074857926 0.0999133906589 -0.000728548241666\n",
      "\n",
      "m_ = \n",
      "[3.12337936 8.06942417 1.19990262]\n",
      "p_ = \n",
      "[[ 0.22760574  0.0180997  -0.00428573]\n",
      " [ 0.0180997   0.2706848   0.00904902]\n",
      " [-0.00428573  0.00904902  0.25525432]]\n",
      "num = \n",
      "1174\n",
      "SENSOR 8 3.48279289223 -0.442671033673\n",
      "\n",
      "num = \n",
      "1175\n",
      "SENSOR 4 1.21367576112 -2.38923397243\n",
      "\n",
      "num = \n",
      "1176\n",
      "SENSOR 5 4.11351339144 -2.12124027897\n",
      "\n",
      "num = \n",
      "1177\n",
      "SENSOR 7 4.9471083243 -0.863368530901\n",
      "\n",
      "num = \n",
      "1178\n",
      "ODOMETRY 0.000666027634388 0.0999961749585 -0.00041098921494\n",
      "\n",
      "m_ = \n",
      "[3.12536003 7.99651298 1.24753965]\n",
      "p_ = \n",
      "[[ 0.22663928  0.01628713 -0.00495777]\n",
      " [ 0.01628713  0.27063192  0.0072672 ]\n",
      " [-0.00495777  0.0072672   0.25526797]]\n",
      "num = \n",
      "1179\n",
      "SENSOR 8 3.31329949365 -0.442208158787\n",
      "\n",
      "num = \n",
      "1180\n",
      "SENSOR 4 1.14087202904 -2.42970915883\n",
      "\n",
      "num = \n",
      "1181\n",
      "SENSOR 5 4.28986062879 -2.13951007973\n",
      "\n",
      "num = \n",
      "1182\n",
      "SENSOR 7 4.50725975692 -0.916450378366\n",
      "\n",
      "num = \n",
      "1183\n",
      "ODOMETRY 0.000123003750952 0.0998768096926 -0.000338091992771\n",
      "\n",
      "m_ = \n",
      "[3.10492502 7.83134049 1.33131165]\n",
      "p_ = \n",
      "[[ 0.22628391  0.0152874  -0.00548855]\n",
      " [ 0.0152874   0.26976321  0.00632569]\n",
      " [-0.00548855  0.00632569  0.25549176]]\n",
      "num = \n",
      "1184\n",
      "SENSOR 8 3.58031102591 -0.631152189894\n",
      "\n",
      "num = \n",
      "1185\n",
      "SENSOR 4 1.28631748205 -2.52280355497\n",
      "\n",
      "num = \n",
      "1186\n",
      "SENSOR 5 4.29694827231 -2.13689954352\n",
      "\n",
      "num = \n",
      "1187\n",
      "SENSOR 7 4.75408087282 -0.865684520747\n",
      "\n",
      "num = \n",
      "1188\n",
      "ODOMETRY -0.000346457382135 0.100082898443 0.000286890929699\n",
      "\n",
      "m_ = \n",
      "[-3.11483105  7.85468921  1.22917144]\n",
      "p_ = \n",
      "[[ 0.22564413  0.01375238 -0.0061124 ]\n",
      " [ 0.01375238  0.26848858  0.00449856]\n",
      " [-0.0061124   0.00449856  0.25668002]]\n",
      "num = \n",
      "1189\n",
      "SENSOR 8 3.24455116705 -0.576310948619\n",
      "\n",
      "num = \n",
      "1190\n",
      "SENSOR 4 1.27283382282 -2.55880342549\n",
      "\n",
      "num = \n",
      "1191\n",
      "SENSOR 5 4.41483458904 -2.05309918925\n",
      "\n",
      "num = \n",
      "1192\n",
      "SENSOR 7 4.63121738461 -0.874521274014\n",
      "\n",
      "num = \n",
      "1193\n",
      "ODOMETRY -0.000955326333333 0.100096022413 -0.000648521461897\n",
      "\n",
      "m_ = \n",
      "[3.12075304 7.72100002 1.26831582]\n",
      "p_ = \n",
      "[[ 0.2258668   0.01455604 -0.00562699]\n",
      " [ 0.01455604  0.27025213  0.00460829]\n",
      " [-0.00562699  0.00460829  0.25670151]]\n",
      "num = \n",
      "1194\n",
      "SENSOR 8 3.24825762533 -0.599421325277\n",
      "\n",
      "num = \n",
      "1195\n",
      "SENSOR 4 1.50961115908 -2.52257610457\n",
      "\n",
      "num = \n",
      "1196\n",
      "SENSOR 5 4.51886453403 -2.10172063614\n",
      "\n",
      "num = \n",
      "1197\n",
      "SENSOR 7 4.67172096933 -0.894687907489\n",
      "\n",
      "num = \n",
      "1198\n",
      "ODOMETRY 0.000425896177498 0.100141662167 0.000472712559654\n",
      "\n",
      "m_ = \n",
      "[3.1137733  7.60195652 1.183775  ]\n",
      "p_ = \n",
      "[[ 0.22551216  0.01365797 -0.00578523]\n",
      " [ 0.01365797  0.26968193  0.00349872]\n",
      " [-0.00578523  0.00349872  0.25775532]]\n",
      "num = \n",
      "1199\n",
      "SENSOR 8 3.23972718873 -0.58466657353\n",
      "\n",
      "num = \n",
      "1200\n",
      "SENSOR 4 1.74083901202 -2.64636281352\n",
      "\n",
      "num = \n",
      "1201\n",
      "SENSOR 5 4.36236644466 -2.15541169775\n",
      "\n",
      "num = \n",
      "1202\n",
      "SENSOR 7 4.54743703627 -0.983253835746\n",
      "\n",
      "num = \n",
      "1203\n",
      "ODOMETRY 0.000431170979157 0.100025186646 -9.68768691897e-05\n",
      "\n",
      "m_ = \n",
      "[-3.13798349  7.49545009  1.21999799]\n",
      "p_ = \n",
      "[[ 0.22544153  0.0139422  -0.00542767]\n",
      " [ 0.0139422   0.27152241  0.00246852]\n",
      " [-0.00542767  0.00246852  0.25846801]]\n",
      "num = \n",
      "1204\n",
      "SENSOR 8 2.94713147949 -0.538730214309\n",
      "\n",
      "num = \n",
      "1205\n",
      "SENSOR 4 1.59532499948 -2.64189895638\n",
      "\n",
      "num = \n",
      "1206\n",
      "SENSOR 5 4.3940471103 -2.19522353029\n",
      "\n",
      "num = \n",
      "1207\n",
      "SENSOR 7 4.58101568205 -0.938466709816\n",
      "\n",
      "num = \n",
      "1208\n",
      "ODOMETRY -0.00126089300156 0.100003408847 -0.000253955323998\n",
      "\n",
      "m_ = \n",
      "[3.11852241 7.43529604 1.29505119]\n",
      "p_ = \n",
      "[[ 0.22524139  0.01334706 -0.0054411 ]\n",
      " [ 0.01334706  0.27086293  0.00182714]\n",
      " [-0.0054411   0.00182714  0.25925808]]\n",
      "num = \n",
      "1209\n",
      "SENSOR 8 3.01049631895 -0.647455670209\n",
      "\n",
      "num = \n",
      "1210\n",
      "SENSOR 4 1.74223188952 -2.64154107534\n",
      "\n",
      "num = \n",
      "1211\n",
      "SENSOR 5 4.6784242394 -2.17124070517\n",
      "\n",
      "num = \n",
      "1212\n",
      "SENSOR 7 4.2652733295 -0.996316702854\n",
      "\n",
      "num = \n",
      "1213\n",
      "ODOMETRY -0.000120654780893 0.0999758007847 -7.69033417334e-05\n",
      "\n",
      "m_ = \n",
      "[3.12116592 7.27146997 1.25528811]\n",
      "p_ = \n",
      "[[ 0.22503515  0.01265366 -0.00552711]\n",
      " [ 0.01265366  0.26931948  0.0016158 ]\n",
      " [-0.00552711  0.0016158   0.25996048]]\n",
      "num = \n",
      "1214\n",
      "SENSOR 8 2.81105029309 -0.668553762428\n",
      "\n",
      "num = \n",
      "1215\n",
      "SENSOR 4 1.84304791933 -2.65607644439\n",
      "\n",
      "num = \n",
      "1216\n",
      "SENSOR 5 4.63624935942 -2.13548023805\n",
      "\n",
      "num = \n",
      "1217\n",
      "SENSOR 7 4.52016763586 -0.991018307807\n",
      "\n",
      "num = \n",
      "1218\n",
      "ODOMETRY 0.000189591679111 0.100086348204 -0.000323351005088\n",
      "\n",
      "m_ = \n",
      "[3.10858675 7.19298072 1.21445074]\n",
      "p_ = \n",
      "[[ 0.22496638  0.01266581 -0.00522056]\n",
      " [ 0.01266581  0.27013449  0.0007188 ]\n",
      " [-0.00522056  0.0007188   0.26059   ]]\n",
      "num = \n",
      "1219\n",
      "SENSOR 8 2.93905607509 -0.585176239548\n",
      "\n",
      "num = \n",
      "1220\n",
      "SENSOR 4 2.0438034489 -2.72800462462\n",
      "\n",
      "num = \n",
      "1221\n",
      "SENSOR 5 4.52648542497 -2.21078238898\n",
      "\n",
      "num = \n",
      "1222\n",
      "SENSOR 7 4.18292097158 -1.01609850061\n",
      "\n",
      "num = \n",
      "1223\n",
      "ODOMETRY -0.000473674854813 0.10002979275 -7.07593512027e-05\n",
      "\n",
      "m_ = \n",
      "[3.10741021 7.1087706  1.30416808]\n",
      "p_ = \n",
      "[[ 2.24994998e-01  1.28952067e-02 -5.08885384e-03]\n",
      " [ 1.28952067e-02  2.71119591e-01  1.71816299e-04]\n",
      " [-5.08885384e-03  1.71816299e-04  2.60658698e-01]]\n",
      "num = \n",
      "1224\n",
      "SENSOR 8 2.78937751626 -0.681683822875\n",
      "\n",
      "num = \n",
      "1225\n",
      "SENSOR 4 1.99021011507 -2.71901554183\n",
      "\n",
      "num = \n",
      "1226\n",
      "SENSOR 5 4.86030610026 -2.19809066259\n",
      "\n",
      "num = \n",
      "1227\n",
      "SENSOR 7 4.08317192213 -1.06263343315\n",
      "\n",
      "num = \n",
      "1228\n",
      "ODOMETRY -0.000361318872101 0.0998516170993 -0.000310786635761\n",
      "\n",
      "m_ = \n",
      "[3.11140492 6.97100512 1.27697384]\n",
      "p_ = \n",
      "[[ 2.24828848e-01  1.23355001e-02 -4.99325923e-03]\n",
      " [ 1.23355001e-02  2.69554569e-01  7.32758705e-05]\n",
      " [-4.99325923e-03  7.32758705e-05  2.61428201e-01]]\n",
      "num = \n",
      "1229\n",
      "SENSOR 8 2.73109069077 -0.664414233072\n",
      "\n",
      "num = \n",
      "1230\n",
      "SENSOR 4 2.02095934862 -2.77281077247\n",
      "\n",
      "num = \n",
      "1231\n",
      "SENSOR 5 4.87996286947 -2.20004470209\n",
      "\n",
      "num = \n",
      "1232\n",
      "SENSOR 7 4.22842676961 -1.08754115393\n",
      "\n",
      "num = \n",
      "1233\n",
      "ODOMETRY -0.000269192638065 0.100069154562 0.000122327434553\n",
      "\n",
      "m_ = \n",
      "[3.12085174 6.92969281 1.24846463]\n",
      "p_ = \n",
      "[[ 0.22485375  0.01256776 -0.00482591]\n",
      " [ 0.01256776  0.27029616 -0.00066069]\n",
      " [-0.00482591 -0.00066069  0.26157135]]\n",
      "num = \n",
      "1234\n",
      "SENSOR 8 2.66996787215 -0.741197858346\n",
      "\n",
      "num = \n",
      "1235\n",
      "SENSOR 1 4.92781804914 0.165464879583\n",
      "\n",
      "num = \n",
      "1236\n",
      "SENSOR 4 2.28452084059 -2.79103144813\n",
      "\n",
      "num = \n",
      "1237\n",
      "SENSOR 5 4.76222916544 -2.3384152959\n",
      "\n",
      "num = \n",
      "1238\n",
      "SENSOR 7 4.19121425588 -1.02506412666\n",
      "\n",
      "num = \n",
      "1239\n",
      "ODOMETRY 0.000939233063028 0.099978524037 0.000685447903704\n",
      "\n",
      "m_ = \n",
      "[3.12189013 6.82276126 1.2789447 ]\n",
      "p_ = \n",
      "[[ 2.19462060e-01  7.49406056e-03 -1.54699882e-03]\n",
      " [ 7.49406056e-03  2.51638108e-01 -1.93335471e-04]\n",
      " [-1.54699882e-03 -1.93335471e-04  2.59114280e-01]]\n",
      "num = \n",
      "1240\n",
      "SENSOR 8 2.51553389791 -0.634533883027\n",
      "\n",
      "num = \n",
      "1241\n",
      "SENSOR 1 4.82706330783 0.0213662625167\n",
      "\n",
      "num = \n",
      "1242\n",
      "SENSOR 4 2.37505836382 -2.78320616069\n",
      "\n",
      "num = \n",
      "1243\n",
      "SENSOR 5 4.99415607057 -2.22355221099\n",
      "\n",
      "num = \n",
      "1244\n",
      "SENSOR 7 3.97703512937 -1.08364781079\n",
      "\n",
      "num = \n",
      "1245\n",
      "ODOMETRY -6.77419651127e-05 0.100140978268 -0.000135987996048\n",
      "\n",
      "m_ = \n",
      "[3.09531063 6.68031544 1.29894896]\n",
      "p_ = \n",
      "[[ 0.21938384  0.00721022 -0.00132857]\n",
      " [ 0.00721022  0.25067357 -0.00051305]\n",
      " [-0.00132857 -0.00051305  0.25918788]]\n",
      "num = \n",
      "1246\n",
      "SENSOR 8 2.23340888122 -0.783411064361\n",
      "\n",
      "num = \n",
      "1247\n",
      "SENSOR 1 4.76673370222 -0.00223170351281\n",
      "\n",
      "num = \n",
      "1248\n",
      "SENSOR 4 2.44121554947 -2.76116600902\n",
      "\n",
      "num = \n",
      "1249\n",
      "SENSOR 5 4.814470924 -2.31902709448\n",
      "\n",
      "num = \n",
      "1250\n",
      "SENSOR 7 4.04347080517 -1.14617801134\n",
      "\n",
      "num = \n",
      "1251\n",
      "ODOMETRY 0.00048886726123 0.100041297815 0.000679022990554\n",
      "\n",
      "m_ = \n",
      "[3.13977264 6.59491795 1.3462742 ]\n",
      "p_ = \n",
      "[[ 0.21940171  0.00733556 -0.00115267]\n",
      " [ 0.00733556  0.25071146 -0.00104287]\n",
      " [-0.00115267 -0.00104287  0.25923056]]\n",
      "num = \n",
      "1252\n",
      "SENSOR 8 2.30974435417 -0.73023844975\n",
      "\n",
      "num = \n",
      "1253\n",
      "SENSOR 1 4.628923258 0.0668774699138\n",
      "\n",
      "num = \n",
      "1254\n",
      "SENSOR 4 2.33202866839 -2.80658070702\n",
      "\n",
      "num = \n",
      "1255\n",
      "SENSOR 7 4.1171835927 -1.18735408115\n",
      "\n",
      "num = \n",
      "1256\n",
      "ODOMETRY -0.000763316825852 0.0998626212511 2.71380464145e-05\n",
      "\n",
      "m_ = \n",
      "[3.12514304 6.56342356 1.31778691]\n",
      "p_ = \n",
      "[[0.2240023  0.00890057 0.00278156]\n",
      " [0.00890057 0.25829277 0.00865664]\n",
      " [0.00278156 0.00865664 0.27280204]]\n",
      "num = \n",
      "1257\n",
      "SENSOR 8 2.30957175125 -0.879774630027\n",
      "\n",
      "num = \n",
      "1258\n",
      "SENSOR 1 4.47241468075 0.112481627522\n",
      "\n",
      "num = \n",
      "1259\n",
      "SENSOR 4 2.67200407606 -2.88213261922\n",
      "\n",
      "num = \n",
      "1260\n",
      "SENSOR 7 4.13385546866 -1.15907658911\n",
      "\n",
      "num = \n",
      "1261\n",
      "ODOMETRY 0.00049292915547 0.0998636041901 -0.000379476978871\n",
      "\n",
      "m_ = \n",
      "[3.12947589 6.39205556 1.24122515]\n",
      "p_ = \n",
      "[[0.22414647 0.00926402 0.00305519]\n",
      " [0.00926402 0.25930265 0.00935789]\n",
      " [0.00305519 0.00935789 0.27366203]]\n",
      "num = \n",
      "1262\n",
      "SENSOR 8 2.36124708193 -0.870145768712\n",
      "\n",
      "num = \n",
      "1263\n",
      "SENSOR 1 4.38735357247 0.0955180040226\n",
      "\n",
      "num = \n",
      "1264\n",
      "SENSOR 4 2.65985478012 -2.84310942138\n",
      "\n",
      "num = \n",
      "1265\n",
      "SENSOR 7 3.81181745959 -1.20782384771\n",
      "\n",
      "num = \n",
      "1266\n",
      "ODOMETRY 0.00033110801736 0.100044850743 -0.000577153724803\n",
      "\n",
      "m_ = \n",
      "[3.12419833 6.3113599  1.28945545]\n",
      "p_ = \n",
      "[[0.22432237 0.00989327 0.00298048]\n",
      " [0.00989327 0.26071862 0.00842482]\n",
      " [0.00298048 0.00842482 0.27199849]]\n",
      "num = \n",
      "1267\n",
      "SENSOR 8 2.41743004232 -0.864072811384\n",
      "\n",
      "num = \n",
      "1268\n",
      "SENSOR 1 4.40194504238 0.0658008097918\n",
      "\n",
      "num = \n",
      "1269\n",
      "SENSOR 4 2.94567913337 -2.88562727445\n",
      "\n",
      "num = \n",
      "1270\n",
      "SENSOR 7 3.82544464355 -1.2516790519\n",
      "\n",
      "num = \n",
      "1271\n",
      "ODOMETRY -0.000308672136194 0.0998384881725 2.64214654053e-05\n",
      "\n",
      "m_ = \n",
      "[3.13303316 6.22509018 1.25055634]\n",
      "p_ = \n",
      "[[0.22438939 0.01002706 0.00308917]\n",
      " [0.01002706 0.26052692 0.00779302]\n",
      " [0.00308917 0.00779302 0.2714012 ]]\n",
      "num = \n",
      "1272\n",
      "SENSOR 8 1.919908976 -0.934813972655\n",
      "\n",
      "num = \n",
      "1273\n",
      "SENSOR 1 4.19345581376 0.0757952107782\n",
      "\n",
      "num = \n",
      "1274\n",
      "SENSOR 4 2.94440761406 -2.83450142815\n",
      "\n",
      "num = \n",
      "1275\n",
      "SENSOR 7 3.92107607518 -1.15208824306\n",
      "\n",
      "num = \n",
      "1276\n",
      "ODOMETRY 5.25016195751e-05 0.0999941288634 0.000406623957959\n",
      "\n",
      "m_ = \n",
      "[3.09182865 6.06370183 1.30535337]\n",
      "p_ = \n",
      "[[0.22446541 0.01022764 0.002918  ]\n",
      " [0.01022764 0.26109962 0.00713596]\n",
      " [0.002918   0.00713596 0.27047648]]\n",
      "num = \n",
      "1277\n",
      "SENSOR 8 1.9832859543 -0.98442650848\n",
      "\n",
      "num = \n",
      "1278\n",
      "SENSOR 1 4.09215025882 0.0717523426929\n",
      "\n",
      "num = \n",
      "1279\n",
      "SENSOR 4 3.05636372159 -2.93752404177\n",
      "\n",
      "num = \n",
      "1280\n",
      "SENSOR 7 3.89565529492 -1.28776086607\n",
      "\n",
      "num = \n",
      "1281\n",
      "ODOMETRY -0.000273197315602 0.0998069485111 -0.000285894067554\n",
      "\n",
      "m_ = \n",
      "[3.13624724 5.96285174 1.30126792]\n",
      "p_ = \n",
      "[[0.2246048  0.01067224 0.00285732]\n",
      " [0.01067224 0.2610424  0.00577283]\n",
      " [0.00285732 0.00577283 0.26921659]]\n",
      "num = \n",
      "1282\n",
      "SENSOR 8 2.12296121839 -1.02645711564\n",
      "\n",
      "num = \n",
      "1283\n",
      "SENSOR 1 4.1786687521 0.0497541354582\n",
      "\n",
      "num = \n",
      "1284\n",
      "SENSOR 4 3.22093748114 -2.82397420009\n",
      "\n",
      "num = \n",
      "1285\n",
      "SENSOR 7 3.97449556221 -1.29780080623\n",
      "\n",
      "num = \n",
      "1286\n",
      "ODOMETRY -0.000265608833175 0.100026175106 0.000137251905213\n",
      "\n",
      "m_ = \n",
      "[3.11906637 5.92361526 1.18248565]\n",
      "p_ = \n",
      "[[0.2246876  0.01090806 0.00260829]\n",
      " [0.01090806 0.2612761  0.00480615]\n",
      " [0.00260829 0.00480615 0.26829876]]\n",
      "num = \n",
      "1287\n",
      "SENSOR 8 2.05703216981 -1.00685667222\n",
      "\n",
      "num = \n",
      "1288\n",
      "SENSOR 1 3.94149875624 0.140569733461\n",
      "\n",
      "num = \n",
      "1289\n",
      "SENSOR 4 3.13725363665 -2.87162377088\n",
      "\n",
      "num = \n",
      "1290\n",
      "SENSOR 7 3.76919105935 -1.28829235854\n",
      "\n",
      "num = \n",
      "1291\n",
      "ODOMETRY 0.000720910278101 0.100023575271 -0.000251711733041\n",
      "\n",
      "m_ = \n",
      "[3.09254975 5.84401067 1.26112296]\n",
      "p_ = \n",
      "[[0.22468358 0.01108186 0.00215265]\n",
      " [0.01108186 0.26266669 0.00450289]\n",
      " [0.00215265 0.00450289 0.26767705]]\n",
      "num = \n",
      "1292\n",
      "SENSOR 8 1.81579376561 -1.08266616382\n",
      "\n",
      "num = \n",
      "1293\n",
      "SENSOR 1 3.67093999662 0.0393555510994\n",
      "\n",
      "num = \n",
      "1294\n",
      "SENSOR 4 3.34596406803 -2.97433102412\n",
      "\n",
      "num = \n",
      "1295\n",
      "SENSOR 7 3.90187420479 -1.31346748714\n",
      "\n",
      "num = \n",
      "1296\n",
      "ODOMETRY 0.000105339136838 0.099882486807 0.000711003741797\n",
      "\n",
      "m_ = \n",
      "[3.12741072 5.65999983 1.27140634]\n",
      "p_ = \n",
      "[[0.22476154 0.01128683 0.00213036]\n",
      " [0.01128683 0.26208704 0.00368507]\n",
      " [0.00213036 0.00368507 0.26724515]]\n",
      "num = \n",
      "1297\n",
      "SENSOR 8 1.81140030994 -1.14228995915\n",
      "\n",
      "num = \n",
      "1298\n",
      "SENSOR 1 3.8261635831 0.054006173831\n",
      "\n",
      "num = \n",
      "1299\n",
      "SENSOR 4 3.4796093187 -2.98658709002\n",
      "\n",
      "num = \n",
      "1300\n",
      "SENSOR 7 3.82419437586 -1.32957085243\n",
      "\n",
      "num = \n",
      "1301\n",
      "ODOMETRY -7.64579991343e-05 0.0997922673878 -0.000288040106145\n",
      "\n",
      "m_ = \n",
      "[3.13888    5.61085703 1.28942549]\n",
      "p_ = \n",
      "[[0.22487692 0.01172483 0.00149647]\n",
      " [0.01172483 0.26227857 0.00184929]\n",
      " [0.00149647 0.00184929 0.26608806]]\n",
      "num = \n",
      "1302\n",
      "SENSOR 8 1.97927232141 -1.27560024901\n",
      "\n",
      "num = \n",
      "1303\n",
      "SENSOR 1 3.72258806814 0.161210114162\n",
      "\n",
      "num = \n",
      "1304\n",
      "SENSOR 4 3.3133245266 -2.89891758969\n",
      "\n",
      "num = \n",
      "1305\n",
      "SENSOR 7 3.81183963458 -1.32175712764\n",
      "\n",
      "num = \n",
      "1306\n",
      "ODOMETRY 0.000385928532719 0.0996806600309 -0.200347125045\n",
      "\n",
      "m_ = \n",
      "[2.91785636 5.58581302 1.23937172]\n",
      "p_ = \n",
      "[[0.22491396 0.01177622 0.00129819]\n",
      " [0.01177622 0.2620899  0.00121861]\n",
      " [0.00129819 0.00121861 0.26577286]]\n",
      "num = \n",
      "1307\n",
      "SENSOR 8 1.71109074699 -1.02714696631\n",
      "\n",
      "num = \n",
      "1308\n",
      "SENSOR 1 3.47474230224 0.283685656426\n",
      "\n",
      "num = \n",
      "1309\n",
      "SENSOR 4 3.49665186449 -2.71608754934\n",
      "\n",
      "num = \n",
      "1310\n",
      "SENSOR 7 3.86100523492 -1.24660856692\n",
      "\n",
      "num = \n",
      "1311\n",
      "ODOMETRY 1.18794066805e-06 0.0997733761035 -0.199977592699\n",
      "\n",
      "m_ = \n",
      "[2.72796824 5.4401991  1.28648187]\n",
      "p_ = \n",
      "[[0.22489468 0.01136361 0.00112138]\n",
      " [0.01136361 0.26228864 0.00100255]\n",
      " [0.00112138 0.00100255 0.26558582]]\n",
      "num = \n",
      "1312\n",
      "SENSOR 8 1.7913022851 -0.988844108691\n",
      "\n",
      "num = \n",
      "1313\n",
      "SENSOR 1 3.3603196986 0.438921773545\n",
      "\n",
      "num = \n",
      "1314\n",
      "SENSOR 4 3.59460143268 -2.4995361102\n",
      "\n",
      "num = \n",
      "1315\n",
      "SENSOR 7 3.6769689176 -1.0092059111\n",
      "\n",
      "num = \n",
      "1316\n",
      "ODOMETRY -0.000816556751862 0.0997465372851 -0.202314638633\n",
      "\n",
      "m_ = \n",
      "[2.53673305 5.31845231 1.31729699]\n",
      "p_ = \n",
      "[[ 0.22497452  0.01115051  0.00066665]\n",
      " [ 0.01115051  0.26145385 -0.00048023]\n",
      " [ 0.00066665 -0.00048023  0.26502891]]\n",
      "num = \n",
      "1317\n",
      "SENSOR 8 1.72700243897 -0.727469713931\n",
      "\n",
      "num = \n",
      "1318\n",
      "SENSOR 1 3.41603446384 0.795914407086\n",
      "\n",
      "num = \n",
      "1319\n",
      "SENSOR 4 3.74498201327 -2.35790495186\n",
      "\n",
      "num = \n",
      "1320\n",
      "SENSOR 7 3.65858016772 -0.852210047465\n",
      "\n",
      "num = \n",
      "1321\n",
      "ODOMETRY -0.00017107666944 0.100202752156 -0.199982427928\n",
      "\n",
      "m_ = \n",
      "[2.30435601 5.26278397 1.40593945]\n",
      "p_ = \n",
      "[[ 0.22502135  0.01078951  0.00031499]\n",
      " [ 0.01078951  0.26062882 -0.00169937]\n",
      " [ 0.00031499 -0.00169937  0.26466638]]\n",
      "num = \n",
      "1322\n",
      "SENSOR 8 1.59030504807 -0.562457859173\n",
      "\n",
      "num = \n",
      "1323\n",
      "SENSOR 1 3.26977624121 1.02025691453\n",
      "\n",
      "num = \n",
      "1324\n",
      "SENSOR 4 3.98177703193 -2.11166828345\n",
      "\n",
      "num = \n",
      "1325\n",
      "SENSOR 7 3.60670130028 -0.68064217983\n",
      "\n",
      "num = \n",
      "1326\n",
      "ODOMETRY 0.000590926276013 0.100545969921 -0.199693808091\n",
      "\n",
      "m_ = \n",
      "[2.07111136 5.1208898  1.48492823]\n",
      "p_ = \n",
      "[[ 0.22510588  0.01045181  0.000446  ]\n",
      " [ 0.01045181  0.25899576 -0.00226506]\n",
      " [ 0.000446   -0.00226506  0.264565  ]]\n",
      "num = \n",
      "1327\n",
      "SENSOR 8 1.42956896486 -0.405210773852\n",
      "\n",
      "num = \n",
      "1328\n",
      "SENSOR 1 3.11530262765 1.08617098938\n",
      "\n",
      "num = \n",
      "1329\n",
      "SENSOR 4 3.75792044617 -1.94960186471\n",
      "\n",
      "num = \n",
      "1330\n",
      "SENSOR 7 3.44632621596 -0.561375582074\n",
      "\n",
      "num = \n",
      "1331\n",
      "ODOMETRY -0.000298257136816 0.0996631664365 -0.198915852019\n",
      "\n",
      "m_ = \n",
      "[1.93515599 5.11901549 1.60068003]\n",
      "p_ = \n",
      "[[ 2.25189750e-01  1.04193936e-02 -1.73270512e-04]\n",
      " [ 1.04193936e-02  2.57557567e-01 -3.51971490e-03]\n",
      " [-1.73270512e-04 -3.51971490e-03  2.64343525e-01]]\n",
      "num = \n",
      "1332\n",
      "SENSOR 8 1.41119753152 -0.218291775829\n",
      "\n",
      "num = \n",
      "1333\n",
      "SENSOR 1 3.14171978452 1.37417197214\n",
      "\n",
      "num = \n",
      "1334\n",
      "SENSOR 4 3.97964357546 -1.84339806385\n",
      "\n",
      "num = \n",
      "1335\n",
      "SENSOR 7 3.37769084878 -0.326486102096\n",
      "\n",
      "num = \n",
      "1336\n",
      "ODOMETRY -0.000223643982462 0.0996312038275 -0.2025564277\n",
      "\n",
      "m_ = \n",
      "[1.72322297 5.0743316  1.69451377]\n",
      "p_ = \n",
      "[[ 2.25349842e-01  1.03203407e-02  2.53933633e-04]\n",
      " [ 1.03203407e-02  2.55317079e-01 -3.49595931e-03]\n",
      " [ 2.53933633e-04 -3.49595931e-03  2.64292519e-01]]\n",
      "num = \n",
      "1337\n",
      "SENSOR 8 1.25280389716 -0.0478523885333\n",
      "\n",
      "num = \n",
      "1338\n",
      "SENSOR 1 3.28031792034 1.55461890617\n",
      "\n",
      "num = \n",
      "1339\n",
      "SENSOR 4 3.96871903979 -1.63320364602\n",
      "\n",
      "num = \n",
      "1340\n",
      "SENSOR 7 3.38773338161 -0.165645510408\n",
      "\n",
      "num = \n",
      "1341\n",
      "ODOMETRY -0.000881424513507 0.0999464043441 -0.148617707433\n",
      "\n",
      "m_ = \n",
      "[1.59927046 5.10911061 1.77255492]\n",
      "p_ = \n",
      "[[ 0.22550267  0.01032603  0.0003107 ]\n",
      " [ 0.01032603  0.25326149 -0.00364722]\n",
      " [ 0.0003107  -0.00364722  0.26416377]]\n",
      "num = \n",
      "1342\n",
      "SENSOR 8 1.21794802013 0.101499246355\n",
      "\n",
      "num = \n",
      "1343\n",
      "SENSOR 1 3.22237509743 1.79072716463\n",
      "\n",
      "num = \n",
      "1344\n",
      "SENSOR 4 3.95617109814 -1.44625205115\n",
      "\n",
      "num = \n",
      "1345\n",
      "SENSOR 7 3.44736574276 0.0259459077986\n",
      "\n",
      "num = \n",
      "1346\n",
      "ODOMETRY 6.73076006284e-05 0.100132073471 -0.000119445516902\n",
      "\n",
      "m_ = \n",
      "[1.55953613 5.10600979 1.79262165]\n",
      "p_ = \n",
      "[[ 0.22566176  0.01035907  0.00112127]\n",
      " [ 0.01035907  0.25147641 -0.00332857]\n",
      " [ 0.00112127 -0.00332857  0.26414459]]\n",
      "num = \n",
      "1347\n",
      "SENSOR 8 1.10085634846 0.0128641004662\n",
      "\n",
      "num = \n",
      "1348\n",
      "SENSOR 1 3.15319314656 1.83602899903\n",
      "\n",
      "num = \n",
      "1349\n",
      "SENSOR 4 3.96197077783 -1.56149331217\n",
      "\n",
      "num = \n",
      "1350\n",
      "SENSOR 7 3.16144997508 0.0497659131117\n",
      "\n",
      "num = \n",
      "1351\n",
      "ODOMETRY 0.000216898596734 0.100008870944 8.44491124946e-05\n",
      "\n",
      "m_ = \n",
      "[1.57741052 5.04935555 1.94981608]\n",
      "p_ = \n",
      "[[ 0.22570498  0.01037744  0.00107715]\n",
      " [ 0.01037744  0.25093546 -0.0033525 ]\n",
      " [ 0.00107715 -0.0033525   0.26410611]]\n",
      "num = \n",
      "1352\n",
      "SENSOR 8 0.98718385021 0.0505647532356\n",
      "\n",
      "num = \n",
      "1353\n",
      "SENSOR 1 3.44793567727 1.89256285855\n",
      "\n",
      "num = \n",
      "1354\n",
      "SENSOR 4 3.92237270173 -1.60631882591\n",
      "\n",
      "num = \n",
      "1355\n",
      "SENSOR 7 3.21973581934 -0.0340907108888\n",
      "\n",
      "num = \n",
      "1356\n",
      "ODOMETRY 0.000128009797301 0.100043460223 0.000987839174826\n",
      "\n",
      "m_ = \n",
      "[1.60821002 5.11487972 2.04820402]\n",
      "p_ = \n",
      "[[ 0.2261051   0.01062246  0.0003714 ]\n",
      " [ 0.01062246  0.2466393  -0.00353645]\n",
      " [ 0.0003714  -0.00353645  0.26372964]]\n",
      "num = \n",
      "1357\n",
      "SENSOR 8 0.89829332316 0.135383956612\n",
      "\n",
      "num = \n",
      "1358\n",
      "SENSOR 1 3.27245387945 1.88010743562\n",
      "\n",
      "num = \n",
      "1359\n",
      "SENSOR 4 3.96502932983 -1.56994091616\n",
      "\n",
      "num = \n",
      "1360\n",
      "SENSOR 7 2.97710577284 0.0715555315754\n",
      "\n",
      "num = \n",
      "1361\n",
      "ODOMETRY -0.000150318169053 0.100071664514 0.000144679939358\n",
      "\n",
      "m_ = \n",
      "[1.56028003 5.10149686 2.15581499]\n",
      "p_ = \n",
      "[[ 0.22641137  0.01060238  0.00137058]\n",
      " [ 0.01060238  0.24363284 -0.00387071]\n",
      " [ 0.00137058 -0.00387071  0.2635618 ]]\n",
      "num = \n",
      "1362\n",
      "SENSOR 8 0.774339649168 -0.000516516086974\n",
      "\n",
      "num = \n",
      "1363\n",
      "SENSOR 1 3.48116649203 1.98621024178\n",
      "\n",
      "num = \n",
      "1364\n",
      "SENSOR 4 3.85294043277 -1.65568756419\n",
      "\n",
      "num = \n",
      "1365\n",
      "SENSOR 7 2.90643136834 0.027023615806\n",
      "\n",
      "num = \n",
      "1366\n",
      "ODOMETRY -0.000465690711615 0.100017674194 -0.000142742436314\n",
      "\n",
      "m_ = \n",
      "[1.59406733 5.09181563 2.289281  ]\n",
      "p_ = \n",
      "[[ 0.22680686  0.01057676  0.00122429]\n",
      " [ 0.01057676  0.23954819 -0.00424672]\n",
      " [ 0.00122429 -0.00424672  0.26322216]]\n",
      "num = \n",
      "1367\n",
      "SENSOR 8 0.527252645966 0.172607270039\n",
      "\n",
      "num = \n",
      "1368\n",
      "SENSOR 1 3.3814040867 1.97634147246\n",
      "\n",
      "num = \n",
      "1369\n",
      "SENSOR 4 4.10861734812 -1.59369624478\n",
      "\n",
      "num = \n",
      "1370\n",
      "SENSOR 7 2.76353072157 0.00840562337829\n",
      "\n",
      "num = \n",
      "1371\n",
      "ODOMETRY -0.000128208315622 0.0999656883624 0.000594809485977\n",
      "\n",
      "m_ = \n",
      "[1.54764236 5.06616244 2.43975818]\n",
      "p_ = \n",
      "[[ 0.2273787   0.01028845  0.00134201]\n",
      " [ 0.01028845  0.23360788 -0.00486043]\n",
      " [ 0.00134201 -0.00486043  0.26273022]]\n",
      "num = \n",
      "1372\n",
      "SENSOR 8 0.687305913164 0.0798724661809\n",
      "\n",
      "num = \n",
      "1373\n",
      "SENSOR 1 3.21764284755 1.9744178959\n",
      "\n",
      "num = \n",
      "1374\n",
      "SENSOR 4 4.08919040605 -1.62141915547\n",
      "\n",
      "num = \n",
      "1375\n",
      "SENSOR 7 2.55473025478 0.0977268515407\n",
      "\n",
      "num = \n",
      "1376\n",
      "ODOMETRY 0.000821476656511 0.0999158037258 -0.00068566679204\n",
      "\n",
      "m_ = \n",
      "[1.5294548  5.02115396 2.47413783]\n",
      "p_ = \n",
      "[[ 0.22811946  0.00941429  0.00105781]\n",
      " [ 0.00941429  0.22536471 -0.00527353]\n",
      " [ 0.00105781 -0.00527353  0.26215133]]\n",
      "num = \n",
      "1377\n",
      "SENSOR 8 0.480616169488 0.139441754953\n",
      "\n",
      "num = \n",
      "1378\n",
      "SENSOR 1 3.45668051094 2.00189239553\n",
      "\n",
      "num = \n",
      "1379\n",
      "SENSOR 4 4.10524461182 -1.67981251381\n",
      "\n",
      "num = \n",
      "1380\n",
      "SENSOR 7 2.33739775251 0.0985219039275\n",
      "\n",
      "num = \n",
      "1381\n",
      "ODOMETRY 0.000455722461866 0.0999653812 -4.23758429747e-05\n",
      "\n",
      "m_ = \n",
      "[1.542375   5.05089037 2.65651838]\n",
      "p_ = \n",
      "[[ 2.28295127e-01  9.06675078e-03  7.53848455e-05]\n",
      " [ 9.06675078e-03  2.22568961e-01 -2.90613552e-03]\n",
      " [ 7.53848455e-05 -2.90613552e-03  2.62063090e-01]]\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1382\n",
      "SENSOR 8 0.400741221794 0.167751600491\n",
      "\n",
      "num = \n",
      "1383\n",
      "SENSOR 1 3.55108397687 2.05110783316\n",
      "\n",
      "num = \n",
      "1384\n",
      "SENSOR 4 4.06515935986 -1.72057455144\n",
      "\n",
      "num = \n",
      "1385\n",
      "SENSOR 7 2.50287051778 0.127838872546\n",
      "\n",
      "num = \n",
      "1386\n",
      "ODOMETRY 0.000100633095148 0.100219327349 0.000631070639127\n",
      "\n",
      "m_ = \n",
      "[1.54184567 5.06381127 2.69816191]\n",
      "p_ = \n",
      "[[ 0.22913283  0.00639073  0.00080921]\n",
      " [ 0.00639073  0.21275376 -0.00758872]\n",
      " [ 0.00080921 -0.00758872  0.26086043]]\n",
      "num = \n",
      "1387\n",
      "SENSOR 8 0.417382565095 0.188823271199\n",
      "\n",
      "num = \n",
      "1388\n",
      "SENSOR 1 3.35123641832 2.09116664517\n",
      "\n",
      "num = \n",
      "1389\n",
      "SENSOR 4 3.95754572184 -1.71268379099\n",
      "\n",
      "num = \n",
      "1390\n",
      "SENSOR 7 2.41072585607 0.122504676512\n",
      "\n",
      "num = \n",
      "1391\n",
      "ODOMETRY -0.000607763710215 0.100140453337 -0.000218697666427\n",
      "\n",
      "m_ = \n",
      "[1.52372027 5.06696242 2.70500296]\n",
      "p_ = \n",
      "[[ 0.22924745  0.00553566  0.00113755]\n",
      " [ 0.00553566  0.21165529 -0.0107255 ]\n",
      " [ 0.00113755 -0.0107255   0.25969925]]\n",
      "num = \n",
      "1392\n",
      "SENSOR 8 0.369346735302 0.271181092817\n",
      "\n",
      "num = \n",
      "1393\n",
      "SENSOR 1 3.67699620635 2.07721447415\n",
      "\n",
      "num = \n",
      "1394\n",
      "SENSOR 4 4.07710876539 -1.73456190265\n",
      "\n",
      "num = \n",
      "1395\n",
      "SENSOR 7 2.42576722134 -0.0138112591739\n",
      "\n",
      "num = \n",
      "1396\n",
      "ODOMETRY -0.000139407170528 0.0998511677938 0.000334065170192\n",
      "\n",
      "m_ = \n",
      "[1.5744883 5.088835  2.7731453]\n",
      "p_ = \n",
      "[[ 0.22925887  0.0053974   0.00104456]\n",
      " [ 0.0053974   0.21166402 -0.01151944]\n",
      " [ 0.00104456 -0.01151944  0.25934343]]\n",
      "num = \n",
      "1397\n",
      "SENSOR 8 0.335693906267 0.462318775119\n",
      "\n",
      "num = \n",
      "1398\n",
      "SENSOR 1 3.54703844972 2.08539235736\n",
      "\n",
      "num = \n",
      "1399\n",
      "SENSOR 4 3.94824350404 -1.6777048794\n",
      "\n",
      "num = \n",
      "1400\n",
      "SENSOR 7 2.13297568426 0.0826896741318\n",
      "\n",
      "num = \n",
      "1401\n",
      "ODOMETRY -0.000628418701319 0.0999704949615 -0.000124838470818\n",
      "\n",
      "m_ = \n",
      "[1.5357992  5.11269193 2.8576736 ]\n",
      "p_ = \n",
      "[[ 0.22941173  0.00399634  0.00148823]\n",
      " [ 0.00399634  0.21327818 -0.01865118]\n",
      " [ 0.00148823 -0.01865118  0.25414913]]\n",
      "num = \n",
      "1402\n",
      "SENSOR 8 0.0237407258792 0.999084065632\n",
      "\n",
      "num = \n",
      "1403\n",
      "SENSOR 1 3.49005275028 2.05858832887\n",
      "\n",
      "num = \n",
      "1404\n",
      "SENSOR 4 4.07307706178 -1.72646904791\n",
      "\n",
      "num = \n",
      "1405\n",
      "SENSOR 7 2.07921259872 0.00213504582166\n",
      "\n",
      "num = \n",
      "1406\n",
      "ODOMETRY -9.78009794874e-05 0.100003974246 -0.00134217319887\n",
      "\n",
      "m_ = \n",
      "[1.56653353 5.10041428 3.05965892]\n",
      "p_ = \n",
      "[[ 0.22947389  0.00257995  0.00156094]\n",
      " [ 0.00257995  0.22446133 -0.02680944]\n",
      " [ 0.00156094 -0.02680944  0.23763782]]\n",
      "num = \n",
      "1407\n",
      "SENSOR 8 0.129747875719 2.20808064967\n",
      "\n",
      "num = \n",
      "1408\n",
      "SENSOR 1 3.82990788235 2.17088111054\n",
      "\n",
      "num = \n",
      "1409\n",
      "SENSOR 4 4.01274770551 -1.80022287123\n",
      "\n",
      "num = \n",
      "1410\n",
      "SENSOR 7 1.74885650734 -0.0121223549881\n",
      "\n",
      "num = \n",
      "1411\n",
      "ODOMETRY 0.000936885880489 0.0999064874362 0.000600172698976\n",
      "\n",
      "m_ = \n",
      "[1.58111758 5.12678674 3.19196707]\n",
      "p_ = \n",
      "[[ 0.22901295 -0.00120827  0.00479473]\n",
      " [-0.00120827  0.23591571  0.02036797]\n",
      " [ 0.00479473  0.02036797  0.21438813]]\n",
      "num = \n",
      "1412\n",
      "SENSOR 8 0.00599324163092 2.67223936752\n",
      "\n",
      "num = \n",
      "1413\n",
      "SENSOR 1 3.82421795548 2.19552984414\n",
      "\n",
      "num = \n",
      "1414\n",
      "SENSOR 3 4.79851180987 0.60594351723\n",
      "\n",
      "num = \n",
      "1415\n",
      "SENSOR 4 4.05133471121 -1.81575940442\n",
      "\n",
      "num = \n",
      "1416\n",
      "SENSOR 7 1.85931144483 0.164227994673\n",
      "\n",
      "num = \n",
      "1417\n",
      "ODOMETRY -0.000253202498002 0.10008722051 0.000209063753791\n",
      "\n",
      "m_ = \n",
      "[1.54617557 5.08099141 3.25436711]\n",
      "p_ = \n",
      "[[ 0.22185484 -0.00329277  0.00606735]\n",
      " [-0.00329277  0.21927512  0.02025513]\n",
      " [ 0.00606735  0.02025513  0.23856704]]\n",
      "num = \n",
      "1418\n",
      "SENSOR 8 0.355098876696 2.89500927945\n",
      "\n",
      "num = \n",
      "1419\n",
      "SENSOR 1 3.90659962847 2.1333112384\n",
      "\n",
      "num = \n",
      "1420\n",
      "SENSOR 3 4.81068150996 0.62679112096\n",
      "\n",
      "num = \n",
      "1421\n",
      "SENSOR 4 4.09111006731 -1.88931307412\n",
      "\n",
      "num = \n",
      "1422\n",
      "SENSOR 7 1.79380510621 -0.0357020447254\n",
      "\n",
      "num = \n",
      "1423\n",
      "ODOMETRY 0.000157129099918 0.100032988722 -0.000729862285518\n",
      "\n",
      "m_ = \n",
      "[1.61319076 5.06085957 3.38293241]\n",
      "p_ = \n",
      "[[ 0.22118152 -0.00540647  0.00406715]\n",
      " [-0.00540647  0.21190117  0.01204375]\n",
      " [ 0.00406715  0.01204375  0.24732627]]\n",
      "num = \n",
      "1424\n",
      "SENSOR 8 0.310596091371 2.80972354331\n",
      "\n",
      "num = \n",
      "1425\n",
      "SENSOR 1 3.70515903504 2.23033190653\n",
      "\n",
      "num = \n",
      "1426\n",
      "SENSOR 3 4.65126987644 0.73166186817\n",
      "\n",
      "num = \n",
      "1427\n",
      "SENSOR 4 4.23935852045 -1.93054147639\n",
      "\n",
      "num = \n",
      "1428\n",
      "SENSOR 7 1.76174667646 0.0262704139452\n",
      "\n",
      "num = \n",
      "1429\n",
      "ODOMETRY -0.000548408308394 0.0999919238562 -0.000250033911117\n",
      "\n",
      "m_ = \n",
      "[1.59133016 5.0822582  3.41776431]\n",
      "p_ = \n",
      "[[ 0.22028784 -0.00654462  0.00269633]\n",
      " [-0.00654462  0.21494128  0.00573509]\n",
      " [ 0.00269633  0.00573509  0.24915273]]\n",
      "num = \n",
      "1430\n",
      "SENSOR 8 0.672273832166 3.01287570212\n",
      "\n",
      "num = \n",
      "1431\n",
      "SENSOR 1 3.82284974892 2.26851849591\n",
      "\n",
      "num = \n",
      "1432\n",
      "SENSOR 3 4.66661981658 0.750783246804\n",
      "\n",
      "num = \n",
      "1433\n",
      "SENSOR 4 4.20611841782 -1.87591401282\n",
      "\n",
      "num = \n",
      "1434\n",
      "SENSOR 7 1.65083446213 -0.10214389997\n",
      "\n",
      "num = \n",
      "1435\n",
      "ODOMETRY -0.000371751330884 0.0999313796848 0.000860224474773\n",
      "\n",
      "m_ = \n",
      "[1.58480779 5.04155423 3.55301852]\n",
      "p_ = \n",
      "[[ 0.2201253  -0.00643781  0.00319807]\n",
      " [-0.00643781  0.21709441  0.00652873]\n",
      " [ 0.00319807  0.00652873  0.24905224]]\n",
      "num = \n",
      "1436\n",
      "SENSOR 8 0.556611108037 3.00403808456\n",
      "\n",
      "num = \n",
      "1437\n",
      "SENSOR 1 4.07609954779 2.29923731693\n",
      "\n",
      "num = \n",
      "1438\n",
      "SENSOR 3 4.61268174855 0.746177069223\n",
      "\n",
      "num = \n",
      "1439\n",
      "SENSOR 4 4.26511409215 -1.93342631232\n",
      "\n",
      "num = \n",
      "1440\n",
      "SENSOR 7 1.5749019735 0.109768246387\n",
      "\n",
      "num = \n",
      "1441\n",
      "ODOMETRY 2.93556084258e-05 0.100060189388 0.00098238378032\n",
      "\n",
      "m_ = \n",
      "[1.54723309 5.08907353 3.6422887 ]\n",
      "p_ = \n",
      "[[ 0.21939375 -0.00632253  0.00185203]\n",
      " [-0.00632253  0.22162647  0.00296799]\n",
      " [ 0.00185203  0.00296799  0.24895942]]\n",
      "num = \n",
      "1442\n",
      "SENSOR 8 0.731212089539 3.13442910945\n",
      "\n",
      "num = \n",
      "1443\n",
      "SENSOR 1 4.19104478917 2.19441500315\n",
      "\n",
      "num = \n",
      "1444\n",
      "SENSOR 3 4.50331304373 0.707514185573\n",
      "\n",
      "num = \n",
      "1445\n",
      "SENSOR 4 4.34762941195 -1.97920192321\n",
      "\n",
      "num = \n",
      "1446\n",
      "SENSOR 7 1.33294282082 0.0230575892315\n",
      "\n",
      "num = \n",
      "1447\n",
      "ODOMETRY 1.97994777393e-05 0.099913771488 0.000324267521873\n",
      "\n",
      "m_ = \n",
      "[1.59004408 5.03432571 3.80403389]\n",
      "p_ = \n",
      "[[ 0.21912498 -0.00559865  0.00269311]\n",
      " [-0.00559865  0.22516138  0.00397737]\n",
      " [ 0.00269311  0.00397737  0.24899554]]\n",
      "num = \n",
      "1448\n",
      "SENSOR 8 0.726506378949 3.06634580351\n",
      "\n",
      "num = \n",
      "1449\n",
      "SENSOR 1 4.04114278918 2.33975587408\n",
      "\n",
      "num = \n",
      "1450\n",
      "SENSOR 3 4.50535713636 0.78187843772\n",
      "\n",
      "num = \n",
      "1451\n",
      "SENSOR 4 4.29965089498 -1.9407687623\n",
      "\n",
      "num = \n",
      "1452\n",
      "SENSOR 7 1.27944364032 0.0552717851415\n",
      "\n",
      "num = \n",
      "1453\n",
      "ODOMETRY -0.000438875804674 0.099903540815 0.000489960444763\n",
      "\n",
      "m_ = \n",
      "[1.54983693 5.05748028 3.82516021]\n",
      "p_ = \n",
      "[[ 0.21862152 -0.00436477  0.00162953]\n",
      " [-0.00436477  0.22844857  0.00249625]\n",
      " [ 0.00162953  0.00249625  0.24846364]]\n",
      "num = \n",
      "1454\n",
      "SENSOR 8 0.62179737963 3.10384573817\n",
      "\n",
      "num = \n",
      "1455\n",
      "SENSOR 1 4.24151843231 2.38316523462\n",
      "\n",
      "num = \n",
      "1456\n",
      "SENSOR 3 4.26416968603 0.789449674711\n",
      "\n",
      "num = \n",
      "1457\n",
      "SENSOR 4 4.33240098534 -1.96547159788\n",
      "\n",
      "num = \n",
      "1458\n",
      "SENSOR 7 1.24198454896 -0.0312764055356\n",
      "\n",
      "num = \n",
      "1459\n",
      "ODOMETRY 0.00124083409796 0.09994562889 -0.000946313040158\n",
      "\n",
      "m_ = \n",
      "[1.55650918 5.02021083 3.89365024]\n",
      "p_ = \n",
      "[[ 0.21860735 -0.00411542  0.00203412]\n",
      " [-0.00411542  0.22887841  0.00269286]\n",
      " [ 0.00203412  0.00269286  0.24853298]]\n",
      "num = \n",
      "1460\n",
      "SENSOR 8 0.760293224516 3.02148565162\n",
      "\n",
      "num = \n",
      "1461\n",
      "SENSOR 1 4.28994508486 2.2237346564\n",
      "\n",
      "num = \n",
      "1462\n",
      "SENSOR 3 4.26717238324 0.896293534553\n",
      "\n",
      "num = \n",
      "1463\n",
      "SENSOR 4 4.27865244716 -2.06179292551\n",
      "\n",
      "num = \n",
      "1464\n",
      "SENSOR 7 1.12266271613 0.0415462318364\n",
      "\n",
      "num = \n",
      "1465\n",
      "ODOMETRY 0.000129299270017 0.100041869119 -0.000655703667229\n",
      "\n",
      "m_ = \n",
      "[1.58439269 5.08776729 3.98520004]\n",
      "p_ = \n",
      "[[ 0.21846273 -0.00347043  0.00136456]\n",
      " [-0.00347043  0.22953047  0.00239851]\n",
      " [ 0.00136456  0.00239851  0.24820928]]\n",
      "num = \n",
      "1466\n",
      "SENSOR 1 4.45232713374 2.39852116851\n",
      "\n",
      "num = \n",
      "1467\n",
      "SENSOR 3 4.28823399159 0.800783040336\n",
      "\n",
      "num = \n",
      "1468\n",
      "SENSOR 4 4.51068601353 -2.05307475783\n",
      "\n",
      "num = \n",
      "1469\n",
      "SENSOR 7 0.901779605434 0.0337725706528\n",
      "\n",
      "num = \n",
      "1470\n",
      "SENSOR 8 0.977088757516 3.04355799617\n",
      "\n",
      "num = \n",
      "1471\n",
      "SENSOR 9 5.04440283106 -0.0103650380772\n",
      "\n",
      "num = \n",
      "1472\n",
      "ODOMETRY 0.000537988723435 0.0998524709068 -0.000469990594849\n",
      "\n",
      "m_ = \n",
      "[1.5803453  5.06994051 4.13793191]\n",
      "p_ = \n",
      "[[ 0.21557951 -0.00117107  0.00187689]\n",
      " [-0.00117107  0.22938046  0.00211363]\n",
      " [ 0.00187689  0.00211363  0.23893311]]\n",
      "num = \n",
      "1473\n",
      "SENSOR 1 4.33243080487 2.33948279246\n",
      "\n",
      "num = \n",
      "1474\n",
      "SENSOR 3 4.10533364383 0.863859372451\n",
      "\n",
      "num = \n",
      "1475\n",
      "SENSOR 4 4.60752865229 -2.16099524972\n",
      "\n",
      "num = \n",
      "1476\n",
      "SENSOR 5 5.14915760553 -1.41243997907\n",
      "\n",
      "num = \n",
      "1477\n",
      "SENSOR 7 1.00236861922 0.0941916748689\n",
      "\n",
      "num = \n",
      "1478\n",
      "SENSOR 8 1.23019120912 3.1121174408\n",
      "\n",
      "num = \n",
      "1479\n",
      "SENSOR 9 4.82508017193 0.051751886788\n",
      "\n",
      "num = \n",
      "1480\n",
      "ODOMETRY -0.000205828817179 0.100018336841 0.000249542798678\n",
      "\n",
      "m_ = \n",
      "[1.57065555 5.03067298 4.25662301]\n",
      "p_ = \n",
      "[[2.13479156e-01 2.41965092e-05 5.10482990e-04]\n",
      " [2.41965092e-05 2.24845459e-01 6.27199537e-04]\n",
      " [5.10482990e-04 6.27199537e-04 2.37418230e-01]]\n",
      "num = \n",
      "1481\n",
      "SENSOR 1 4.33283896214 2.46058071055\n",
      "\n",
      "num = \n",
      "1482\n",
      "SENSOR 3 4.18312790586 0.872387916195\n",
      "\n",
      "num = \n",
      "1483\n",
      "SENSOR 4 4.50465419667 -2.16382123772\n",
      "\n",
      "num = \n",
      "1484\n",
      "SENSOR 5 5.10336341986 -1.39939623537\n",
      "\n",
      "num = \n",
      "1485\n",
      "SENSOR 7 0.704062055735 0.108392416192\n",
      "\n",
      "num = \n",
      "1486\n",
      "SENSOR 8 1.20229516344 3.16630582891\n",
      "\n",
      "num = \n",
      "1487\n",
      "SENSOR 9 4.60881937906 0.0659418142304\n",
      "\n",
      "num = \n",
      "1488\n",
      "ODOMETRY -4.84769033309e-05 0.0998816841886 -0.000516660455681\n",
      "\n",
      "m_ = \n",
      "[1.54024215 5.04021457 4.35510337]\n",
      "p_ = \n",
      "[[2.13582759e-01 7.60030565e-04 2.24067685e-04]\n",
      " [7.60030565e-04 2.22953989e-01 6.55469397e-04]\n",
      " [2.24067685e-04 6.55469397e-04 2.37320963e-01]]\n",
      "num = \n",
      "1489\n",
      "SENSOR 1 4.50934992142 2.36066884164\n",
      "\n",
      "num = \n",
      "1490\n",
      "SENSOR 3 4.00995160209 0.872702584178\n",
      "\n",
      "num = \n",
      "1491\n",
      "SENSOR 4 4.6556628157 -2.10991460657\n",
      "\n",
      "num = \n",
      "1492\n",
      "SENSOR 5 5.19236777304 -1.46894121337\n",
      "\n",
      "num = \n",
      "1493\n",
      "SENSOR 7 0.595140527124 -0.00247210771207\n",
      "\n",
      "num = \n",
      "1494\n",
      "SENSOR 8 1.1409026588 3.07525098835\n",
      "\n",
      "num = \n",
      "1495\n",
      "SENSOR 9 4.84639214222 -0.0548253969277\n",
      "\n",
      "num = \n",
      "1496\n",
      "ODOMETRY 5.67295197279e-05 0.100061981172 0.000311855228904\n",
      "\n",
      "m_ = \n",
      "[0.60868894 3.94092571 4.35883688]\n",
      "p_ = \n",
      "[[0.21372661 0.00186439 0.00151179]\n",
      " [0.00186439 0.22081252 0.00036962]\n",
      " [0.00151179 0.00036962 0.23735911]]\n",
      "num = \n",
      "1497\n",
      "SENSOR 1 4.62274843795 2.4285094599\n",
      "\n",
      "num = \n",
      "1498\n",
      "SENSOR 3 3.816414436 0.903117907018\n",
      "\n",
      "num = \n",
      "1499\n",
      "SENSOR 4 4.36708385287 -2.09249135014\n",
      "\n",
      "num = \n",
      "1500\n",
      "SENSOR 5 5.02112185456 -1.48480085145\n",
      "\n",
      "num = \n",
      "1501\n",
      "SENSOR 7 0.722330360765 0.131951761725\n",
      "\n",
      "num = \n",
      "1502\n",
      "SENSOR 8 1.42401805985 3.15417376672\n",
      "\n",
      "num = \n",
      "1503\n",
      "SENSOR 9 4.47099457601 -0.0163240457546\n",
      "\n",
      "num = \n",
      "1504\n",
      "ODOMETRY 0.00115916483704 0.0999765525792 -5.49301680053e-05\n",
      "\n",
      "m_ = \n",
      "[-0.27660793  3.38707768  4.33954446]\n",
      "p_ = \n",
      "[[ 0.21421365  0.00070454 -0.00414493]\n",
      " [ 0.00070454  0.23614866  0.00213585]\n",
      " [-0.00414493  0.00213585  0.2365064 ]]\n",
      "num = \n",
      "1505\n",
      "SENSOR 1 4.63927554993 2.3761844012\n",
      "\n",
      "num = \n",
      "1506\n",
      "SENSOR 3 3.9376280419 0.858518143986\n",
      "\n",
      "num = \n",
      "1507\n",
      "SENSOR 4 4.78153044206 -2.1711021116\n",
      "\n",
      "num = \n",
      "1508\n",
      "SENSOR 5 5.01779109603 -1.4755448089\n",
      "\n",
      "num = \n",
      "1509\n",
      "SENSOR 7 0.400487152841 0.0954002442539\n",
      "\n",
      "num = \n",
      "1510\n",
      "SENSOR 8 1.5705356409 2.92820511279\n",
      "\n",
      "num = \n",
      "1511\n",
      "SENSOR 9 4.55151136998 0.00907004840239\n",
      "\n",
      "num = \n",
      "1512\n",
      "ODOMETRY -0.00015974321687 0.100001954963 0.000375007480502\n",
      "\n",
      "m_ = \n",
      "[-0.27793768  3.44900191  4.35988058]\n",
      "p_ = \n",
      "[[ 0.21416169  0.00077207 -0.00426863]\n",
      " [ 0.00077207  0.23800013  0.00075479]\n",
      " [-0.00426863  0.00075479  0.2406    ]]\n",
      "num = \n",
      "1513\n",
      "SENSOR 1 4.70778012293 2.42157051538\n",
      "\n",
      "num = \n",
      "1514\n",
      "SENSOR 3 3.97505453196 0.932447245049\n",
      "\n",
      "num = \n",
      "1515\n",
      "SENSOR 4 4.70850325866 -2.17152767966\n",
      "\n",
      "num = \n",
      "1516\n",
      "SENSOR 5 4.95124738508 -1.40632188062\n",
      "\n",
      "num = \n",
      "1517\n",
      "SENSOR 7 0.383618192004 0.149257977921\n",
      "\n",
      "num = \n",
      "1518\n",
      "SENSOR 8 1.42134250744 3.07398092328\n",
      "\n",
      "num = \n",
      "1519\n",
      "SENSOR 9 4.4606042563 -0.0161739269736\n",
      "\n",
      "num = \n",
      "1520\n",
      "ODOMETRY -0.000584883749866 0.0998918193766 0.000164194828446\n",
      "\n",
      "m_ = \n",
      "[-0.32664146  3.49953823  4.35589709]\n",
      "p_ = \n",
      "[[ 0.21417062  0.00078924 -0.00430449]\n",
      " [ 0.00078924  0.23800251  0.00090732]\n",
      " [-0.00430449  0.00090732  0.24030317]]\n",
      "num = \n",
      "1521\n",
      "SENSOR 1 4.79178293375 2.48566706534\n",
      "\n",
      "num = \n",
      "1522\n",
      "SENSOR 3 3.63177076576 0.880780831994\n",
      "\n",
      "num = \n",
      "1523\n",
      "SENSOR 4 5.01568989921 -2.26708689866\n",
      "\n",
      "num = \n",
      "1524\n",
      "SENSOR 5 4.98135878948 -1.51500189459\n",
      "\n",
      "num = \n",
      "1525\n",
      "SENSOR 7 0.270711489516 0.323697074147\n",
      "\n",
      "num = \n",
      "1526\n",
      "SENSOR 8 1.83521291936 3.07684872323\n",
      "\n",
      "num = \n",
      "1527\n",
      "SENSOR 9 4.49376890802 0.0459102111966\n",
      "\n",
      "num = \n",
      "1528\n",
      "ODOMETRY 0.000303680491478 0.100162153889 9.76063766532e-05\n",
      "\n",
      "m_ = \n",
      "[-0.35541884  3.38426493  4.48808168]\n",
      "p_ = \n",
      "[[ 0.21417812  0.00081964 -0.00431729]\n",
      " [ 0.00081964  0.23793802  0.00096423]\n",
      " [-0.00431729  0.00096423  0.23996661]]\n",
      "num = \n",
      "1529\n",
      "SENSOR 1 4.87239258496 2.49373595981\n",
      "\n",
      "num = \n",
      "1530\n",
      "SENSOR 3 3.63961037672 0.972600323588\n",
      "\n",
      "num = \n",
      "1531\n",
      "SENSOR 4 5.06493994808 -2.19537045826\n",
      "\n",
      "num = \n",
      "1532\n",
      "SENSOR 5 4.87043159977 -1.5187934091\n",
      "\n",
      "num = \n",
      "1533\n",
      "SENSOR 7 0.158485679685 0.430892408212\n",
      "\n",
      "num = \n",
      "1534\n",
      "SENSOR 8 1.94404523721 3.02999537927\n",
      "\n",
      "num = \n",
      "1535\n",
      "SENSOR 9 4.25502389275 0.0807923140829\n",
      "\n",
      "num = \n",
      "1536\n",
      "ODOMETRY -0.000118594429945 0.100038226107 0.0016860488551\n",
      "\n",
      "m_ = \n",
      "[-0.40272724  3.46183349  4.5810863 ]\n",
      "p_ = \n",
      "[[ 0.21414801  0.00070565 -0.00428445]\n",
      " [ 0.00070565  0.23818449  0.00143848]\n",
      " [-0.00428445  0.00143848  0.24055701]]\n",
      "num = \n",
      "1537\n",
      "SENSOR 3 3.85525315557 0.972472209298\n",
      "\n",
      "num = \n",
      "1538\n",
      "SENSOR 4 4.7395963428 -2.22231607732\n",
      "\n",
      "num = \n",
      "1539\n",
      "SENSOR 5 5.03393746044 -1.59221850796\n",
      "\n",
      "num = \n",
      "1540\n",
      "SENSOR 6 5.09689220959 -0.905474203378\n",
      "\n",
      "num = \n",
      "1541\n",
      "SENSOR 7 0.210352002822 1.03187235077\n",
      "\n",
      "num = \n",
      "1542\n",
      "SENSOR 8 2.18673487592 3.14059664668\n",
      "\n",
      "num = \n",
      "1543\n",
      "SENSOR 9 4.10712293299 0.0906600190361\n",
      "\n"
     ]
    }
   ],
   "source": [
    "# Начальные распределения\n",
    "m = []\n",
    "P = []\n",
    "m.append([0,0,0])\n",
    "P.append([[1,0,0],[0,1,0],[0,0,1]])\n",
    "H = []\n",
    "Y = []\n",
    "f = open('/home/qwe/Desktop/анализ сигналов/data files/sensor_data_ekf.dat')\n",
    "X = []\n",
    "m_ = []\n",
    "p_ = []\n",
    "hh = []\n",
    "R = []\n",
    "cnt_sensors = 0\n",
    "nn =0 \n",
    "for line in f:\n",
    "    nn = nn+1\n",
    "    print(\"num = \")\n",
    "    print(nn)\n",
    "    print(line)\n",
    "    q = line.split()\n",
    "    if q[0] == 'ODOMETRY':\n",
    "        if(len(m_) != 0):\n",
    "            H = np.array(H)\n",
    "            R = np.array([[0.0] * (2 * cnt_sensors)  for i in range(2 * cnt_sensors)])\n",
    "            for i in range(cnt_sensors):\n",
    "                R[2*i][2*i] = 0.2\n",
    "                R[2*i+1][2*i+1] = 0.1\n",
    "            # Коррекция с конечной матрицей\n",
    "            S = np.dot(np.dot(H,p_),H.transpose())+ R\n",
    "            K = np.dot(np.dot(p_ ,H.transpose()), np.linalg.inv(S))\n",
    "            v = np.array(Y) - np.array(hh)\n",
    "            v = np.dot(K , v.transpose())\n",
    "            v = v.tolist();\n",
    "            new_ang= m_+ v\n",
    "            new_ang[0] = nrml(new_ang[0])\n",
    "            m.append(new_ang)\n",
    "            P.append(p_  - np.dot(np.dot(K ,S),K.transpose()))\n",
    "        \n",
    "        # Новый прогноз\n",
    "        \n",
    "        #Берем дельты из Одометрии\n",
    "        deltar1 = float(q[1])\n",
    "        deltat = float(q[2])\n",
    "        deltar2 = float(q[3])\n",
    "        \n",
    "        # Прогноз матожидания\n",
    "        m_ = np.array([m[-1][0] + deltar1 + deltar2 , m[-1][1] +  deltat* cos(m[-1][0] + deltar1),m[-1][2]+\n",
    "                       deltat*sin(m[-1][0]+deltar1)]) \n",
    "        m_[0] = nrml(m_[0])\n",
    "        #Матрица якоби функции f\n",
    "        F_x = np.array([[1,0,0],[-deltat*sin(m[-1][0] + deltar1),1,0],[deltat *cos(m[-1][0] +deltar1),0,1]])\n",
    "        # Прогноз матрицы ковариации\n",
    "        p_ = np.dot(np.dot(F_x ,P[-1]),  F_x.transpose()) + np.array([[0.2,0,0],[0,0.2,0],[0,0,0.2]])\n",
    "        print(\"m_ = \")\n",
    "        print(m_)\n",
    "        print(\"p_ = \")\n",
    "        print(p_)\n",
    "        H = []\n",
    "        Y = []\n",
    "        hh = []\n",
    "        R = []\n",
    "        cnt_sensors = 0\n",
    "    else:\n",
    "        cnt_sensors = cnt_sensors+1\n",
    "        num = int(q[1])\n",
    "        Y.append(float(q[2]))\n",
    "        Y.append(float(q[3]))\n",
    "        delta_x = L[num - 1][1] - m_[1]\n",
    "        delta_y = L[num - 1][2] - m_[2]\n",
    "        qq = (delta_x * delta_x) + (delta_y * delta_y)\n",
    "        phi = math.atan2(delta_y,delta_x)  - m_[0]\n",
    "        phi = nrml(phi)\n",
    "        H = conc(H, np.array([[0,-delta_x/math.sqrt(qq),-delta_y/math.sqrt(qq)],[-1,delta_y/qq,-delta_x/qq]]))\n",
    "        hh.append(math.sqrt(qq))\n",
    "        hh.append(phi)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "id": "9881e16c",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x7f57068b9520>]"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "X =[]\n",
    "for i in range(0,len(m)):\n",
    "    X.append(np.random.multivariate_normal(m[i],P[i]))\n",
    "x = [a[1] for a in X]\n",
    "y = [a[2] for a in X]\n",
    "fig1 = plt.figure(1)\n",
    "axes1 = fig1.subplots(1, 1)\n",
    "axes1.plot(x, y,label='parametric curve')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "36cd7a53",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "c678903c",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.10"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}
